Study on human-SRL synchronized walking based on coupled impedance

Introduction Supernumerary robotic limbs (SRL) is a novel category of wearable robotics. Unlike prostheses (compensation for human limbs) and exoskeletons (augmentation of human limbs), SRL focuses on expanding human limbs and enhancing human activities, perception, and operation through the mutual...

Full description

Saved in:

Bibliographic Details
Published in:	Frontiers in neurorobotics 2023-09, Vol.17, p.1252947-1252947
Main Authors:	Liu, Zihao, Xiang, Kui, He, Wutong, Gao, Xiang, Peng, Yaling, Pang, Muye
Format:	Article
Language:	eng
Subjects:	Collaboration Communication Computer terminals Control algorithms Cooperation Design Exoskeleton Human mechanics human-machine coupling Legs Limbs Mathematical models Motion control Mountain climbing Neuroscience passive dynamic walking Power supply Prosthetics Robotics Robots Sensors Software Supernumerary supernumerary robotic limbs Synchronization synchronized walking wheel-legged robotic limb
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	Introduction Supernumerary robotic limbs (SRL) is a novel category of wearable robotics. Unlike prostheses (compensation for human limbs) and exoskeletons (augmentation of human limbs), SRL focuses on expanding human limbs and enhancing human activities, perception, and operation through the mutual collaboration of mechanical limbs and human limbs. The SRL of lower limbs are attached to the human waist, synchronized with the human walking in the forward direction, and can carry weight independently in the vertical direction. Methods In order to enhance the synchronization performance of the human-machine system during walking and minimize interference with human gait, it is essential to investigate the coupling dynamics within the human-SRL system. To facilitate our research, this paper focuses on relatively ideal working conditions: level road surfaces, no additional weight-bearing on the SRL, and humans walking in a straight line without any turns. We build upon the passive dynamic walking theory and utilize the human-SRL system model established by MIT to develop a coupling system model. Through numerical simulations, we identify the optimal values for the stiffness and damping coefficients of the human-machine connection. Additionally, we have designed the wheel-legged SRL structure and constructed the SRL control system for experimental validation. Results It is found that a better synchronization of the human-machine walking process can be achieved by configuring suitable spring and damping units in the human-machine connection part. Discussion In this study, we explored the concept of SRL and its potential benefits for enhancing human motion, conducting simulations and experiments based on the coupled dynamics of human-SRL systems. The results indicate that by equipping the human-machine connection component with suitable spring and damping units, synchronization during the walking process can be improved.
ISSN:	1662-5218 1662-5218