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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Rapid exploration of robotic ankle exoskeleton control strategies
PI: Steve Collins
Carnegie Mellon University
Experimental Biomechatronics Laboratory
Missing keys for exoskeleton design:
Trades autonomy for exceptional versatility.
From idea to experiment in hours, not years.
From whole-body dynamics and chemistry…
… to individual muscle mechanics and activation
1. Impedance: springs and (negative) dampers
2. Proportional EMG: muscle amplifier
3. Reflex-like: virtual muscles and neurons
4. Trajectory-based: on the clock
Systematic exploration along key parameters
Comparison of each approach at its best