NSF National Robotics Initiative:
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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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Nsf national robotics initiative

NSF National Robotics Initiative:

Rapid exploration of robotic ankle exoskeleton control strategies

PI: Steve Collins

Carnegie Mellon University

Experimental Biomechatronics Laboratory


Nsf national robotics initiative

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


Nsf national robotics initiative

Universal ankle-exoskeleton emulator

Trades autonomy for exceptional versatility.

From idea to experiment in hours, not years.


Nsf national robotics initiative

Multi-scale locomotion physiology toolset

From whole-body dynamics and chemistry…

… to individual muscle mechanics and activation


Nsf national robotics initiative

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


Nsf national robotics initiative

Intra-controller experiments

Systematic exploration along key parameters


Nsf national robotics initiative

Inter-controller experiments

Comparison of each approach at its best


Nsf national robotics initiative

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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