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Bioinspired Wearable Robotic Control

The profile of robotic assistance is fundamental to human-robot-environment ineraction.  I have developed and implemented different bioinspired assistance strategies for assisting walking in healthy and clinical populations.

Muscle-Based Assistance

We directly measure an individuals muscle mechanics in various walking tasks and feed back that information into the muscle-based exosuit assistance.

MBA Exo_edited.png

Impedance (Stiffness) Control

We applied active impedance control to emulate passive-elastic exoskeletons.  Active control of impedance (stiffness) mitigated the effect of deformation in the mechanical exoskeleton structure and allowed for rapid sweep stiffness parameters.

Impedance Exo_edited.png

Parameterized Gait-Phase Assistance

Assistance profile shape is parameterized on time (as a percentage of an average stride; e.g. onset time) and magnitude (e.g. peak applied force). Typically, these are parameters are derived, as a starting point, from joint moment and power.

Gait Phase.png

Neuromuscular Control

Using a simple neuromuscular model, we estimated the contribution to biological ankle torque from reflexive force-feedback (i.e. Golgi organ).  Exoskeleton assistance magnitude and profile shape changed as the person's estimated contributions changed.

ForceFeedback NMM Control.png

Speed-Adaptive Proportional EMG

The exoskeleton assistance profile was derived from the wearer's muscle activation profile and scaled to account for walking speed.

Speed-Adaptive PEMG.png
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