A Modular Lower Limb Exoskeleton System with RL Based Walking Assistance Control

Shen，Yutian1; Wang，Yingying1; Zhao，Ziqi2; Li，Chenming1; Meng，Max Q.H.1,2,3

10.1109/ROBIO54168.2021.9739595

2021

978-1-6654-0536-2

2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

1258-1263

27-31 Dec. 2021

Sanya, China

Lower limb exoskeleton for people suffering from unilateral weakness or even hemiparesis has attracted considerable interest in recent years. For walking assistance in such scenarios, the exoskeleton is expected to help generate symmetrically coordinated motion with the unaffected side. Challenges facing current exoskeletons are related to mechanical design and control strategy. In this paper, we approach the problem by presenting a modular lower limb exoskeleton system that consists of a modular hip orthosis and a modular knee orthosis, each has one electric actuator in the extension/flexion joints. Meanwhile, the exoskeleton system is an under-actuated system with some degree of freedoms remains passive, making it more complex than fully actuated robotic systems where classical PID controller can achieve satisfying performance. We than propose a reinforcement learning based controller to provide walking assistance based on a modeled leaderfollower system. And the walking assistance task can be reformulated as a motion trajectory tracking problem. The proposed control method is validated in simulation platform with data obtained from a healthy subject imitating hemiplegia patients with the designed set of single-side lower limb exoskeleton.

Legged locomotion Knee Trajectory tracking Robot kinematics Conferences Exoskeletons Reinforcement learning

其他

英语

EI

20221611977408

Controllers ; Exoskeleton (Robotics) ; Reinforcement learning ; Three term control systems ; Walking aids

Rehabilitation Engineering and Assistive Technology:461.5 ; Biomedical Equipment, General:462.1 ; Artificial Intelligence:723.4 ; Computer Applications:723.5 ; Control Systems:731.1 ; Robotics:731.5 ; Control Equipment:732.1

2-s2.0-85128231982

Scopus

1.Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong,Hong Kong
2.Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China
3.Shenzhen Research Institute,Chinese University of Hong Kong,Shenzhen,China

Shen，Yutian,Wang，Yingying,Zhao，Ziqi,et al. A Modular Lower Limb Exoskeleton System with RL Based Walking Assistance Control[C],2021:1258-1263.