Exoskeleton active assistance strategy for human muscle activation reduction during linear and circular walking

doi:10.1007/s40436-024-00504-1

Advances in Manufacturing ›› 2024, Vol. 12 ›› Issue (3): 484-496.doi: 10.1007/s40436-024-00504-1

• • 上一篇

Exoskeleton active assistance strategy for human muscle activation reduction during linear and circular walking

Wen-Tao Sheng¹, Ke-Yao Liang², Hai-Bin Tang¹

1. School of Intelligent Manufacturing, Nanjing University of Science and Technology, Nanjing, 210094, People's Republic of China;
2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, People's Republic of China

收稿日期:2023-11-17 修回日期:2023-11-27 发布日期:2024-09-07
通讯作者: Hai-Bin Tang,E-mail:htang28@njust.edu.cn E-mail:htang28@njust.edu.cn
作者简介:Wen-Tao Sheng is now a Lecturer of Nanjing University of Science and Technology. His research interests focus on intelligent algorithm for human motion recognition and human- robot interaction;
Ke-Yao Liang is now a Ph.D. student at school of mechatronics engineering, in Harbin Institute of Technology, China. Her research interests focus on human-machine cooperation and human intention recognition;
Hai-Bin Tang is an Associate Professor of Nanjing University of Science and Technology, China. His research interests include intelligent manufacturing and additive manufacturing.

Exoskeleton active assistance strategy for human muscle activation reduction during linear and circular walking

Wen-Tao Sheng¹, Ke-Yao Liang², Hai-Bin Tang¹

1. School of Intelligent Manufacturing, Nanjing University of Science and Technology, Nanjing, 210094, People's Republic of China;
2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, People's Republic of China

Received:2023-11-17 Revised:2023-11-27 Published:2024-09-07
Contact: Hai-Bin Tang,E-mail:htang28@njust.edu.cn E-mail:htang28@njust.edu.cn

摘要/Abstract

摘要： The exoskeleton is employed to assist humans in various domains including military missions, rehabilitation, industrial operation, and activities of daily living (ADLs).Walking is a fundamental ADL, and exoskeletons are capable of reducing the activation and metabolism of lower extremity muscles through active assistance during walking. To improve the performance of active assistance strategy, this article proposes a framework using an active hip exoskeleton. Subsequently, it correlates to an already established Bayesian-based human gait recognition algorithm, with a particular focus on linear and circular walking within industrial and ADL contexts. In theorizing this strategy for exoskeletons, this study further reveals, in part, the activation characteristics of human hip muscles for the instruction and regulation of active assistance duration and onset timing. This proposed active assistance strategy provides new insights for enhancing the performance of assistive robots and facilitating human robot interaction within the context of ADLs.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-024-00504-1

关键词: Human-robot interaction, Hip exoskeleton, Muscle activation, Walking assistance

Abstract: The exoskeleton is employed to assist humans in various domains including military missions, rehabilitation, industrial operation, and activities of daily living (ADLs).Walking is a fundamental ADL, and exoskeletons are capable of reducing the activation and metabolism of lower extremity muscles through active assistance during walking. To improve the performance of active assistance strategy, this article proposes a framework using an active hip exoskeleton. Subsequently, it correlates to an already established Bayesian-based human gait recognition algorithm, with a particular focus on linear and circular walking within industrial and ADL contexts. In theorizing this strategy for exoskeletons, this study further reveals, in part, the activation characteristics of human hip muscles for the instruction and regulation of active assistance duration and onset timing. This proposed active assistance strategy provides new insights for enhancing the performance of assistive robots and facilitating human robot interaction within the context of ADLs.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-024-00504-1

Key words: Human-robot interaction, Hip exoskeleton, Muscle activation, Walking assistance

Wen-Tao Sheng, Ke-Yao Liang, Hai-Bin Tang. Exoskeleton active assistance strategy for human muscle activation reduction during linear and circular walking[J]. Advances in Manufacturing, 2024, 12(3): 484-496.

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Exoskeleton active assistance strategy for human muscle activation reduction during linear and circular walking

Exoskeleton active assistance strategy for human muscle activation reduction during linear and circular walking

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