Control strategy for an assistive exoskeleton for sit-to-stand transition

Gaurav Patil; Lillian M. Rigoli; Ameya Chamnikar; Amanda Miller; Anca Ralescu; Adam W. Kiefer; Michael J. Richardson; Tamara Lorenz; Manish Kumar

doi:10.1115/DSCC2017-5163

Control strategy for an assistive exoskeleton for sit-to-stand transition

Gaurav Patil, Lillian M. Rigoli, Ameya Chamnikar, Amanda Miller, Anca Ralescu, Adam W. Kiefer, Michael J. Richardson, Tamara Lorenz, Manish Kumar

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

1 Citation (Scopus)

Abstract

Approximately 1.5 million senior citizens live under nursing supervision, and most require assistance with at least one or more Activities of Daily Living (ADL). These include transferring in and out of chairs, beds and toilets, which necessitates the ability to perform sit-to-stand transitions. The sit-to-stand transition is a complex full-body activity that requires the synergistic coordination of the upper and lower limbs and trunk. This paper presents a model-based control approach for an exoskeleton device that can provide assistance at the ankle, knee, and hip joints. Validation of the controller is based on simulations on a four-link model of the human body. The results show that the control strategy is successful for different sit-to-stand transition speeds, and when the user is providing only a part of the required torques or has a single weak joint. The results also demonstrate the effectiveness of the proposed control strategy in the presence of modeling error that provides further support for the robustness of this approach.

Original language	English
Title of host publication	Proceedings of the ASME 10th Annual Dynamic Systems and Control Conference
Subtitle of host publication	DSCC2017
Place of Publication	New York, N.Y
Publisher	American Society of Mechanical Engineers
Pages	1-10
Number of pages	10
Volume	1
ISBN (Electronic)	9780791858271
DOIs	https://doi.org/10.1115/DSCC2017-5163
Publication status	Published - 2017
Externally published	Yes
Event	ASME 2017 Dynamic Systems and Control Conference, DSCC 2017 - Tysons, United States Duration: 11 Oct 2017 → 13 Oct 2017

Conference

Conference	ASME 2017 Dynamic Systems and Control Conference, DSCC 2017
Country/Territory	United States
City	Tysons
Period	11/10/17 → 13/10/17

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10.1115/DSCC2017-5163

Cite this

Patil, G., Rigoli, L. M., Chamnikar, A., Miller, A., Ralescu, A., Kiefer, A. W., Richardson, M. J., Lorenz, T., & Kumar, M. (2017). Control strategy for an assistive exoskeleton for sit-to-stand transition. In Proceedings of the ASME 10th Annual Dynamic Systems and Control Conference: DSCC2017 (Vol. 1, pp. 1-10). Article DSCC2017-5163 American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2017-5163

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title = "Control strategy for an assistive exoskeleton for sit-to-stand transition",

abstract = "Approximately 1.5 million senior citizens live under nursing supervision, and most require assistance with at least one or more Activities of Daily Living (ADL). These include transferring in and out of chairs, beds and toilets, which necessitates the ability to perform sit-to-stand transitions. The sit-to-stand transition is a complex full-body activity that requires the synergistic coordination of the upper and lower limbs and trunk. This paper presents a model-based control approach for an exoskeleton device that can provide assistance at the ankle, knee, and hip joints. Validation of the controller is based on simulations on a four-link model of the human body. The results show that the control strategy is successful for different sit-to-stand transition speeds, and when the user is providing only a part of the required torques or has a single weak joint. The results also demonstrate the effectiveness of the proposed control strategy in the presence of modeling error that provides further support for the robustness of this approach.",

author = "Gaurav Patil and Rigoli, {Lillian M.} and Ameya Chamnikar and Amanda Miller and Anca Ralescu and Kiefer, {Adam W.} and Richardson, {Michael J.} and Tamara Lorenz and Manish Kumar",

year = "2017",

doi = "10.1115/DSCC2017-5163",

language = "English",

volume = "1",

pages = "1--10",

booktitle = "Proceedings of the ASME 10th Annual Dynamic Systems and Control Conference",

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note = "ASME 2017 Dynamic Systems and Control Conference, DSCC 2017 ; Conference date: 11-10-2017 Through 13-10-2017",

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Patil, G, Rigoli, LM, Chamnikar, A, Miller, A, Ralescu, A, Kiefer, AW, Richardson, MJ, Lorenz, T & Kumar, M 2017, Control strategy for an assistive exoskeleton for sit-to-stand transition. in Proceedings of the ASME 10th Annual Dynamic Systems and Control Conference: DSCC2017. vol. 1, DSCC2017-5163, American Society of Mechanical Engineers, New York, N.Y, pp. 1-10, ASME 2017 Dynamic Systems and Control Conference, DSCC 2017, Tysons, United States, 11/10/17. https://doi.org/10.1115/DSCC2017-5163

Control strategy for an assistive exoskeleton for sit-to-stand transition. / Patil, Gaurav; Rigoli, Lillian M.; Chamnikar, Ameya et al.
Proceedings of the ASME 10th Annual Dynamic Systems and Control Conference: DSCC2017. Vol. 1 New York, N.Y: American Society of Mechanical Engineers, 2017. p. 1-10 DSCC2017-5163.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

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T1 - Control strategy for an assistive exoskeleton for sit-to-stand transition

AU - Patil, Gaurav

AU - Rigoli, Lillian M.

AU - Chamnikar, Ameya

AU - Miller, Amanda

AU - Ralescu, Anca

AU - Kiefer, Adam W.

AU - Richardson, Michael J.

AU - Lorenz, Tamara

AU - Kumar, Manish

PY - 2017

Y1 - 2017

N2 - Approximately 1.5 million senior citizens live under nursing supervision, and most require assistance with at least one or more Activities of Daily Living (ADL). These include transferring in and out of chairs, beds and toilets, which necessitates the ability to perform sit-to-stand transitions. The sit-to-stand transition is a complex full-body activity that requires the synergistic coordination of the upper and lower limbs and trunk. This paper presents a model-based control approach for an exoskeleton device that can provide assistance at the ankle, knee, and hip joints. Validation of the controller is based on simulations on a four-link model of the human body. The results show that the control strategy is successful for different sit-to-stand transition speeds, and when the user is providing only a part of the required torques or has a single weak joint. The results also demonstrate the effectiveness of the proposed control strategy in the presence of modeling error that provides further support for the robustness of this approach.

AB - Approximately 1.5 million senior citizens live under nursing supervision, and most require assistance with at least one or more Activities of Daily Living (ADL). These include transferring in and out of chairs, beds and toilets, which necessitates the ability to perform sit-to-stand transitions. The sit-to-stand transition is a complex full-body activity that requires the synergistic coordination of the upper and lower limbs and trunk. This paper presents a model-based control approach for an exoskeleton device that can provide assistance at the ankle, knee, and hip joints. Validation of the controller is based on simulations on a four-link model of the human body. The results show that the control strategy is successful for different sit-to-stand transition speeds, and when the user is providing only a part of the required torques or has a single weak joint. The results also demonstrate the effectiveness of the proposed control strategy in the presence of modeling error that provides further support for the robustness of this approach.

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T2 - ASME 2017 Dynamic Systems and Control Conference, DSCC 2017

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ER -

Control strategy for an assistive exoskeleton for sit-to-stand transition

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