Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction

Abstract

Series elastic actuators (SEAs) can provide accurate force control and backdrivability in physical human–robot interaction. Control of SEA-generated forces or torques makes allowance for the user's own volitional control and allows implementing a wide variety of assistive strategies. A novel force control method for a SEA-driven lower-limb assistive exoskeleton is presented. The device features variable-structure SEAs coupled via Bowden cables. The actuator alternates between two discrete levels of stiffness depending on the amplitude of the commanded force. The algorithm features a switching force-tracking control based on the forward-propagating Riccati equation. A disturbance-rejection component increases the device's transparency in zero assistance mode. The force control was used to implement an assistive strategy that aims to correct the asymmetric gait typical of stroke survivors. Assistive joint torques synchronize with the user's gait by means of an adaptive frequency oscillator, which extracts the continuous phase and frequency of the patient's gait using data from both the paretic and the healthy sides. The control was tested with healthy subjects wearing the exoskeleton while subject to a simulated knee flexion impairment. The control proved effective in restoring spatial and temporal knee flexion symmetry to levels comparable to unobstructed gait.