Parametric Delayed Output Feedback Control for Versatile Human-Exoskeleton Interactions During Walking and Running

Abstract

This paper presents a parametric delayed output feedback controller for various types of human-exoskeleton interactions during walking or running gait. The parametric delayed-feedback controller operates reliably during various gait pattern changes, utilizing three adjustable control parameters: smoothing factor, time delay, and feedback gain. We show that various human-exoskeleton interaction torques can be generated using these three parameters, such as assistance with running or walking and different types of resistances. Feasibility tests were performed to demonstrate the efficacy of the proposed interaction controller. Hip exoskeleton assistance reduces the metabolic cost by 12.3% during running at 7 km/h compared with running without the exoskeleton. The generalizability of the controller performance was also demonstrated through various gait speed tests. Furthermore, we measured the electromyography signal data and the human lower limb joint kinematics to examine the feasibility of providing different gait resistances using different time delays. The results show that resistance with a delay of 0.3 s (Late mode) instead of a delay of 0.1 s (Early mode) is possible for walking resistance training, focusing on the hip flexors compared to the zero-torque mode.