Real-time exoskeleton control for human-in-the-loop optimization
About the project
Our proposal is to build a physical prototype of a modular lower-limb exoskeleton system with a digital interface to a variable real-time controller. The prototype will be equipped with motors that provide variable control to different joints and joint ranges of motion while being capable of supporting real-time control of its kinetic properties. By varying the assistive strategies in the exoskeleton system via a digital interface, we will enable human-in-the-loop (HILO) optimization in order to find optimal control strategies for different users and different goals.
Persons with physical disabilities are the largest minority group in the world and global trends in ageing populations indicate an expected increase in the population affected by disability. In Sweden, musculoskeletal disorders are one of the most common causes of long-term disability.
Wearable robotic assistive exoskeletons have undergone rapid developments in the past decades, yet only a handful of products are used frequently, either within or outside of research environments. A major reason for this is that, for user compliance and efficacy, a device must be adjusted for optimal effect and comfort. The use of methods for automatically discovering, customizing, and continuously adapting assistance could overcome these challenges, allowing exoskeletons and prostheses to achieve their potential.
The researchers in the team represent the KTH School of Engineering Science, Department of Engineering Mechanics and KTH School of Industrial engineering and management, department of Machine Design.
Elena Gutierrez Farewik
Professor, Department of Engineering Mechanics at KTH, Vice Chair Working group Rich and Healthy Life, PI of project Deep Camera-Based Movement Analysis for Remote Rehabilitation and Physical Therapy, PI of project Real-time exoskeleton control for human-in-the-loop optimization, Digital Futures Faculty+46 8 790 77 19