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Exoskeleton robot control for synchronous walking assistance in repetitive manual handling works based on dual unscented Kalman filter

机译：基于双重无味卡尔曼滤波器的外骨骼机器人控制用于重复步行操作中的同步步行辅助

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Prolong walking is a notable risk factor for work-related lower-limb disorders (WRLLD) in industries such as agriculture, construction, service profession, healthcare and retail works. It is one of the common causes of lower limb fatigue or muscular exhaustion leading to poor balance and fall. Exoskeleton technology is seen as a modern strategy to assist worker’s in these professions to minimize or eliminate the risk of WRLLDs. Exoskeleton has potentials to benefit workers in prolong walking (amongst others) by augmenting their strength, increasing their endurance, and minimizing high muscular activation, resulting in overall work efficiency and productivity. Controlling exoskeleton to achieve this purpose for able-bodied personnel without impeding their natural movement is, however, challenging. In this study, we propose a control strategy that integrates a Dual Unscented Kalman Filter (DUKF) for trajectory generation/prediction of the spatio-temporal features of human walking (i.e. joint position, and velocity, and acceleration) and an impedance cum supervisory controller to enable the exoskeleton to follow this trajectory to synchronize with the human walking. Experiment is conducted with four subjects carrying a load and walking at their normal speed- a typical scenario in industries. EMG signals taken at two muscles: Right Vastus Intermedius (on the thigh) and Right Gastrocnemius (on the calf) indicated reduction in muscular activation during the experiment. The results also show the ability of the control system to predict spatio-temporal features of the pilots’ walking and to enable the exoskeleton to move in concert with the pilot.
机译：长时间步行是与农业，建筑，服务业，医疗保健和零售业等行业相关的与工作相关的下肢疾病（WRLLD）的显着风险因素。它是下肢疲劳或肌肉疲劳导致平衡不佳和跌倒的常见原因之一。外骨骼技术被视为一种现代策略，可以帮助这些行业的工人减少或消除WRLLD的风险。外骨骼有潜力通过增强力量，增强耐力并最大程度地减少肌肉的活跃度，使工人（尤其是其他人）长时间步行，从而提高整体工作效率和生产率。然而，控制外骨骼以使强健的人员达到此目的而又不妨碍其自然运动是一项挑战。在这项研究中，我们提出了一种控制策略，该策略集成了双重无味卡尔曼滤波器（DUKF）以及人为阻抗和监督控制器，用于轨迹生成/预测人类步行的时空特征（即关节位置，速度和加速度）使外骨骼能够遵循此轨迹与人类步行同步。实验是对四个受测者进行负载并以其正常速度行走（这是工业中的典型情况）。在两块肌肉上采集的EMG信号：右大腿间肌（在大腿上）和右小腓肠肌（在小腿上）表明实验过程中肌肉的激活减少。结果还表明，控制系统能够预测飞行员的行走时空特征，并使外骨骼能够与飞行员协同运动。

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