Abstract
(1) Background: An iterative learning control (ILC) strategy was developed for a “Muscle First” Motor-Assisted Hybrid Neuroprosthesis (MAHNP). The MAHNP combines a backdrivable exoskeletal brace with neural stimulation technology to enable persons with paraplegia due to spinal cord injury (SCI) to execute ambulatory motions and walk upright. (2) Methods: The ILC strategy was developed to swing the legs in a biologically inspired ballistic fashion. It maximizes muscular recruitment and activates the motorized exoskeletal bracing to assist the motion as needed. The control algorithm was tested using an anatomically realistic three-dimensional musculoskeletal model of the lower leg and pelvis suitably modified to account for exoskeletal inertia. The model was developed and tested with the OpenSim biomechanical modeling suite. (3) Results: Preliminary data demonstrate the efficacy of the controller in swing-leg simulations and its ability to learn to balance muscular and motor contributions to improve performance and accomplish consistent stepping. In particular, the controller took 15 iterations to achieve the desired outcome with 0.3% error.
Highlights
Available robotic exoskeletal walking assist devices currently on the market include both untethered devices intended for community use and as therapeutic interventions such as Rex, ReWalk, Ekso, and Indego [2] as well as mounted systems that are incapable of overground walking and are only intended as a therapeutic tool, such as the Lokomat [3]
BIOTILC was capable of both ensuring foot clearance as well as attaining the terminal stance configuration required to accept weight
The findings indicate the feasibility of eventually updating control in real-time when eventually implemented with a physical exoskeleton and user with spinal cord injury (SCI) to balance the contributions of motorized assistance and stimulated muscle outputs for ballistic control of swing
Summary
Available robotic exoskeletal walking assist devices currently on the market include both untethered devices intended for community use and as therapeutic interventions such as Rex, ReWalk, Ekso, and Indego [2] as well as mounted systems that are incapable of overground walking and are only intended as a therapeutic tool, such as the Lokomat [3]. These exoskeletons generate ambulatory motions with mechanical actuators mounted on external bracing worn on the user’s, or pilot’s, body. Commercial systems are motor driven and do not activate the paralyzed lower extremity muscles to contribute to walking motions, leaving the lower limbs to continue to atrophy
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