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NSF National Robotics Initiative: Rapid exploration of robotic ankle exoskeleton control strategies PI: Steve Collins Carnegie Mellon University Experimental Biomechatronics Laboratory. Project Overview Missing keys for exoskeleton design: Tools for rapid, systematic exploration

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slide1

NSF National Robotics Initiative:

Rapid exploration of robotic ankle exoskeleton control strategies

PI: Steve Collins

Carnegie Mellon University

Experimental Biomechatronics Laboratory

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Project Overview

Missing keys for exoskeleton design:

  • Tools for rapid, systematic exploration
  • Neuromechanics models of performance

Our approach:

  • Universal ankle-foot exoskeleton emulator
  • Measures from muscle fascicle to whole body
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Universal ankle-exoskeleton emulator

Trades autonomy for exceptional versatility.

From idea to experiment in hours, not years.

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Multi-scale locomotion physiology toolset

From whole-body dynamics and chemistry…

… to individual muscle mechanics and activation

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Assistance strategies worth exploring

1. Impedance: springs and (negative) dampers

2. Proportional EMG: muscle amplifier

3. Reflex-like: virtual muscles and neurons

4. Trajectory-based: on the clock

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Intra-controller experiments

Systematic exploration along key parameters

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Inter-controller experiments

Comparison of each approach at its best

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Milestones: Ahead of Schedule

Completed:

  • Trajectory embodiment and parameter sweep
    • one journal article in preparation

In progress:

  • Impedance control embodiment (Q2, 2014)
  • Proportional EMG embodiment (Q2, 2014)
  • Reflex-like control embodiment (Q2, 2014)
  • Platform improvements (Q4, 2014)

Next steps:

  • Parametric analysis of embodied strategies
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