Optimizing Exoskeleton Assistance: Muscle Synergy-Based Actuation for Personalized Hip Exoskeleton Control †
Abstract
:1. Introduction
2. Methods
2.1. System Overview
2.2. Human-in-the-Loop Optimization Platform
2.3. Evaluation Index Based on Muscle Synergy
2.4. Assistive Torque Profile Generation
2.5. Iterative Process for Optimizing Assistive Torque
2.6. Testing Protocol
3. Results
3.1. Human-in-the-Loop Optimization Experiment
3.2. Optimized Muscle Synergy
4. Discussion
4.1. Strategy for Torque Generation
4.2. Evaluation Index Based on Muscle Synergy
4.3. The Experiments and Evaluation of Human-in-the-Loop Optimization
4.4. Study Limitations
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
Appendix A
Subjects | ||||||||
---|---|---|---|---|---|---|---|---|
S1 | 0.25 | 4.54 Nm | 0.17 | 0.14 | 0.73 | 3.42 Nm | 0.10 | 0.14 |
S2 | 0.28 | 2.38 Nm | 0.19 | 0.16 | 0.76 | 4.85 Nm | 0.16 | 0.13 |
S3 | 0.24 | 7.85 Nm | 0.16 | 0.13 | 0.79 | 9.58 Nm | 0.18 | 0.13 |
S4 | 0.30 | 3.67 Nm | 0.10 | 0.18 | 0.80 | 2.40 Nm | 0.20 | 0.10 |
S5 | 0.25 | 7.95 Nm | 0.15 | 0.15 | 0.75 | 6.81 Nm | 0.15 | 0.15 |
S6 | 0.25 | 6.28 Nm | 0.18 | 0.15 | 0.75 | 5.98 Nm | 0.19 | 0.17 |
Subjects | ||||||||
---|---|---|---|---|---|---|---|---|
S1 | 0.25 | 4.54 Nm | 0.15 | 0.15 | 0.75 | 3.41 Nm | 0.15 | 0.15 |
S2 | 0.29 | 4.25 Nm | 0.17 | 0.18 | 0.73 | 3.46 Nm | 0.18 | 0.13 |
S3 | 0.25 | 5.13 Nm | 0.20 | 0.19 | 0.71 | 6.83 Nm | 0.14 | 0.18 |
S4 | 0.25 | 3.19 Nm | 0.14 | 0.13 | 0.75 | 3.37 Nm | 0.16 | 0.17 |
S5 | 0.28 | 9.27 Nm | 0.12 | 0.19 | 0.78 | 6.64 Nm | 0.18 | 0.10 |
S6 | 0.26 | 2.79 Nm | 0.13 | 0.13 | 0.72 | 9.75 Nm | 0.14 | 0.14 |
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Iterative Process for Optimizing Assistive Torque |
---|
Input: |
Initial Assistive Profile Parameters |
to T do |
Fit Assistive Profile—Human Musculoskeletal Synergy Similarity Model ; |
// Determine the next sampling point based on the maximum value of the acquisition function |
// Measure sEMG to calculate lower limb muscular synergy Similarity |
; |
end for |
Subject | Height (cm) | Weight (kg) | Age (Year) | BMI (kg/m2) |
---|---|---|---|---|
S1 | 168 | 64 | 22 | 22.7 |
S2 | 173 | 73 | 24 | 24.4 |
S3 | 173 | 62 | 22 | 20.7 |
S4 | 182 | 71 | 23 | 21.4 |
S5 | 178 | 61 | 24 | 19.3 |
S6 | 170 | 70 | 35 | 24.2 |
Mean ± std | 174 ± 4.7 | 66.8 ± 4.7 | 25.0 ± 4.5 | 22.1 ± 1.9 |
No. | Walking Speed | Assist Torque Profile |
---|---|---|
1 | 1 m/s | Zero Torque (ZT) |
2 | 1 m/s | Predefined Profile (PD) |
3 | 1 m/s | Optimal result of Bayesian Optimization (BO1) |
4 | 1 m/s | Sub-optimal result of Bayesian Optimization (BO2) |
Subject | Total Iterations | Iterations of Optimal | Iterations of Sub-Optimal | Optimal | Sub-Optimal |
---|---|---|---|---|---|
S1 | 64 | 50 | 1 | 0.69 | 0.69 |
S2 | 64 | 35 | 53 | 0.84 | 0.82 |
S3 | 35 | 10 | 13 | 0.75 | 0.74 |
S4 | 64 | 27 | 26 | 0.91 | 0.90 |
S5 | 48 | 4 | 34 | 0.92 | 0.90 |
S6 | 64 | 42 | 46 | 0.84 | 0.83 |
Mean ± std | 56.5 ± 11.3 | 28.0 ± 16.5 | 28.8 ± 18.0 | 0.83 ± 0.09 | 0.81 ± 0.08 |
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Ma, Y.; Liu, D.; Yan, Z.; Yu, L.; Gui, L.; Yang, C.; Yang, W. Optimizing Exoskeleton Assistance: Muscle Synergy-Based Actuation for Personalized Hip Exoskeleton Control. Actuators 2024, 13, 54. https://doi.org/10.3390/act13020054
Ma Y, Liu D, Yan Z, Yu L, Gui L, Yang C, Yang W. Optimizing Exoskeleton Assistance: Muscle Synergy-Based Actuation for Personalized Hip Exoskeleton Control. Actuators. 2024; 13(2):54. https://doi.org/10.3390/act13020054
Chicago/Turabian StyleMa, Yehao, Dewei Liu, Zehao Yan, Linfan Yu, Lianghong Gui, Canjun Yang, and Wei Yang. 2024. "Optimizing Exoskeleton Assistance: Muscle Synergy-Based Actuation for Personalized Hip Exoskeleton Control" Actuators 13, no. 2: 54. https://doi.org/10.3390/act13020054