Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton
Soft exoskeletons (exosuits) are expected to provide a comfortable wearing experience and compliant assistance compared with traditional rigid exoskeleton robots. In this paper, an exosuit with twisted string actuators (TSAs) is developed to provide high-strength and variable-stiffness actuation for...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/23/7845 |
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| author | Jiajun Xu Kaizhen Huang Mengcheng Zhao Jinfu Liu |
| author_facet | Jiajun Xu Kaizhen Huang Mengcheng Zhao Jinfu Liu |
| author_sort | Jiajun Xu |
| collection | DOAJ |
| description | Soft exoskeletons (exosuits) are expected to provide a comfortable wearing experience and compliant assistance compared with traditional rigid exoskeleton robots. In this paper, an exosuit with twisted string actuators (TSAs) is developed to provide high-strength and variable-stiffness actuation for hemiplegic patients. By formulating the analytic model of the TSA and decoding the human impedance characteristic, the human-exosuit coupled dynamic model is constructed. An adaptive impedance controller is designed to transfer the skills of the patient’s healthy limb (HL) to the bilateral impaired limb (IL) with a mirror training strategy, including the movement trajectory and stiffness profiles. A reinforcement learning (RL) algorithm is proposed to optimize the robotic assistance by adapting the impedance model parameters to the subject’s performance. Experiments are conducted to demonstrate the effectiveness and superiority of the proposed method. |
| format | Article |
| id | doaj-art-5fdfda7200434ef1b3ffde00174f0dd8 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-5fdfda7200434ef1b3ffde00174f0dd82024-12-13T16:32:58ZengMDPI AGSensors1424-82202024-12-012423784510.3390/s24237845Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft ExoskeletonJiajun Xu0Kaizhen Huang1Mengcheng Zhao2Jinfu Liu3College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaChangzhou Vocational Institute of Industry Technology, Changzhou 213164, ChinaSoft exoskeletons (exosuits) are expected to provide a comfortable wearing experience and compliant assistance compared with traditional rigid exoskeleton robots. In this paper, an exosuit with twisted string actuators (TSAs) is developed to provide high-strength and variable-stiffness actuation for hemiplegic patients. By formulating the analytic model of the TSA and decoding the human impedance characteristic, the human-exosuit coupled dynamic model is constructed. An adaptive impedance controller is designed to transfer the skills of the patient’s healthy limb (HL) to the bilateral impaired limb (IL) with a mirror training strategy, including the movement trajectory and stiffness profiles. A reinforcement learning (RL) algorithm is proposed to optimize the robotic assistance by adapting the impedance model parameters to the subject’s performance. Experiments are conducted to demonstrate the effectiveness and superiority of the proposed method.https://www.mdpi.com/1424-8220/24/23/7845soft exoskeletonadaptive impedance controlreinforcement learningskill transfer |
| spellingShingle | Jiajun Xu Kaizhen Huang Mengcheng Zhao Jinfu Liu Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton Sensors soft exoskeleton adaptive impedance control reinforcement learning skill transfer |
| title | Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton |
| title_full | Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton |
| title_fullStr | Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton |
| title_full_unstemmed | Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton |
| title_short | Human-in-the-Loop Modeling and Bilateral Skill Transfer Control of Soft Exoskeleton |
| title_sort | human in the loop modeling and bilateral skill transfer control of soft exoskeleton |
| topic | soft exoskeleton adaptive impedance control reinforcement learning skill transfer |
| url | https://www.mdpi.com/1424-8220/24/23/7845 |
| work_keys_str_mv | AT jiajunxu humanintheloopmodelingandbilateralskilltransfercontrolofsoftexoskeleton AT kaizhenhuang humanintheloopmodelingandbilateralskilltransfercontrolofsoftexoskeleton AT mengchengzhao humanintheloopmodelingandbilateralskilltransfercontrolofsoftexoskeleton AT jinfuliu humanintheloopmodelingandbilateralskilltransfercontrolofsoftexoskeleton |