System Identification I

Technological advancements have led to the development of numerous wearable robotic devices for the physical assistance and restoration of human locomotion. While many challenges remain with respect to the mechanical design of such devices, it is at least equally challenging and important to develop strategies to control them in concert with the intentions of the user. This work reviews the state-of-the-art techniques for controlling portable active lower limb prosthetic and orthotic (P/O) devices in the context of locomotive activities of daily living (ADL), and considers how these can be interfaced with the user’s sensory-motor control system. This review underscores the practical challenges and opportunities associated with P/O control, which can be used to accelerate future developments in this field. Furthermore, this work provides a classification scheme for the comparison of the various control strategies. As a novel contribution, a general framework for the control of portable gait-assistance devices is proposed. This framework accounts for the physical and informatic interactions between the controller, the user, the environment, and the mechanical device itself. Such a treatment of P/Os – not as independent devices, but as actors within an ecosystem – is suggested to be necessary to structure the next generation of intelligent and multifunctional controllers. Each element of the proposed framework is discussed with respect to the role that it plays in the assistance of locomotion, along with how its states can be sensed as inputs to the controller. The reviewed controllers are shown to fit within different levels of a hierarchical scheme, which loosely resembles the structure and functionality of the nominal human central nervous system (CNS). Active and passive safety mechanisms are considered to be central aspects underlying all of P/O design and control, and are shown to be critical for regulatory approval of such devices for real-world use. The works discussed herein provide evidence that, while we are getting ever closer, significant challenges still exist for the development of controllers for portable powered P/O devices that can seamlessly integrate with the user’s neuromusculoskeletal system and are practical for use in locomotive ADL.

/pdf/control-strategies-for-active-lower-extremity-prosthetics-5ojhkwsifh.pdf

Control strategies for active lower extremity prosthetics and orthotics: a review

Exosuits show much promise as a method for augmenting the body with lightweight, portable, and compliant wearable systems. We envision that such systems can be further refined so that they can be sufficiently low profile to fit under a wearer's existing clothing. Our focus is on creating an assistive device that provides a fraction of the nominal biological torques and does not provide external load transfer. In early work, we showed that the system can substantially maintain normal biomechanics and positively affect a wearer's metabolic rate. Many basic fundamental research and development challenges remain in actuator development, textile innovation, soft sensor development, human-machine interface (control), biomechanics, and physiology, which provides fertile ground for academic research in many disciplines. While we have focused on gait assistance thus far, numerous other applications are possible, including rehabilitation, upper body support, and assistance for other motions. We look forward to a future where wearable robots provide benefits for people across many areas of our society.

Stronger, Smarter, Softer: Next-Generation Wearable Robots

Recovery of Walking Function in Stroke Patients: The Copenhagen Stroke Study

Gait Analysis: Normal and Pathological Function

In human locomotion, we continuously modulate joint mechanical impedance of the lower limb (hip, knee, and ankle) either voluntarily or reflexively to accommodate environmental changes and maintain stable interaction. Ankle mechanical impedance plays a pivotal role at the interface between the neuro-mechanical system and the physical world. This paper reports, for the first time, a characterization of human ankle mechanical impedance in two degrees-of-freedom simultaneously as it varies with time during walking. Ensemble-based linear time-varying system identification methods implemented with a wearable ankle robot, Anklebot, enabled reliable estimation of ankle mechanical impedance from the pre-swing phase through the entire swing phase to the early-stance phase. This included heel-strike and toe-off, key events in the transition from the swing to stance phase or vice versa. Time-varying ankle mechanical impedance was accurately approximated by a second order model consisting of inertia, viscosity, and stiffness in both inversion-eversion and dorsiflexion-plantarflexion directions, as observed in our previous steady-state dynamic studies. We found that viscosity and stiffness of the ankle significantly decreased at the end of the stance phase before toe-off, remained relatively constant across the swing phase, and increased around heel-strike. Closer investigation around heel-strike revealed that viscosity and stiffness in both planes increased before heel-strike occurred. This finding is important evidence of “pretuning” by the central nervous system. In addition, viscosity and stiffness were greater in the sagittal plane than in the frontal plane across all subgait phases, except the early stance phase. Comparison with previous studies and implications for clinical study of neurologically impaired patients are provided.

Time-Varying Ankle Mechanical Impedance During Human Locomotion

The human ankle joint plays a critical role during walking and understanding the biomechanical factors that govern ankle behavior and provides fundamental insight into normal and pathologically altered gait. Previous researchers have comprehensively studied ankle joint kinetics and kinematics during many biomechanical tasks, including locomotion; however, only recently have researchers been able to quantify how the mechanical impedance of the ankle varies during walking. The mechanical impedance describes the dynamic relationship between the joint position and the joint torque during perturbation, and is often represented in terms of stiffness, damping, and inertia. The purpose of this short communication is to unify the results of the first two studies measuring ankle mechanical impedance in the sagittal plane during walking, where each study investigated differing regions of the gait cycle. Rouse et al. measured ankle impedance from late loading response to terminal stance, where Lee et al. quantified ankle impedance from pre-swing to early loading response. While stiffness component of impedance increases significantly as the stance phase of walking progressed, the change in damping during the gait cycle is much less than the changes observed in stiffness. In addition, both stiffness and damping remained low during the swing phase of walking. Future work will focus on quantifying impedance during the “push off” region of stance phase, as well as measurement of these properties in the coronal plane.

Summary of Human Ankle Mechanical Impedance During Walking

This paper reports quantification of multivariable static ankle mechanical impedance when muscles were active. Repetitive measurements using a highly backdrivable therapeutic robot combined with robust function approximation methods enabled reliable characterization of the nonlinear torque-angle relation at the ankle in two coupled degrees of freedom simultaneously, a combination of dorsiflexion-plantarflexion and inversion-eversion, and how it varied with muscle activation. Measurements on 10 young healthy seated subjects quantified the behavior of the human ankle when muscles were active at 10% of maximum voluntary contraction. Stiffness, a linear approximation to static ankle mechanical impedance, was estimated from the continuous vector field. As with previous measurements when muscles were maximally relaxed, we found that ankle stiffness was highly direction-dependent, being weakest in inversion/eversion. Predominantly activating a single muscle or co-contracting antagonistic muscles significantly increased ankle stiffness in all directions but it increased more in the sagittal plane than in the frontal plane, accentuating the relative weakness of the ankle in the inversion-eversion direction. Remarkably, the observed increase was not consistent with simple superposition of muscle-generated stiffness, which may be due to the contribution of unmonitored deep ankle muscles. Implications for the assessment of neuro-mechanical disorders are discussed.

Multivariable Static Ankle Mechanical Impedance With Active Muscles

Multivariable static ankle mechanical impedance with relaxed muscles.

Neurological or biomechanical disorders may distort ankle mechanical impedance and thereby impair locomotor function. This paper presents a quantitative characterization of multivariable ankle mechanical impedance of young healthy subjects when their muscles were relaxed, to serve as a baseline to compare with pathophysiological ankle properties of biomechanically and/or neurologically impaired patients. Measurements using a highly backdrivable wearable ankle robot combined with multi-input multi-output stochastic system identification methods enabled reliable characterization of ankle mechanical impedance in two degrees-of-freedom (DOFs) simultaneously, the sagittal and frontal planes. The characterization included important ankle properties unavailable from single DOF studies: coupling between DOFs and anisotropy as a function of frequency. Ankle impedance in joint coordinates showed responses largely consistent with a second-order system consisting of inertia, viscosity, and stiffness in both seated (knee flexed) and standing (knee straightened) postures. Stiffness in the sagittal plane was greater than in the frontal plane and furthermore, was greater when standing than when seated, most likely due to the stretch of bi-articular muscles (medial and lateral gastrocnemius). Very low off-diagonal partial coherences implied negligible coupling between dorsiflexion-plantarflexion and inversion-eversion. The directions of principal axes were tilted slightly counterclockwise from the original joint coordinates. The directional variation (anisotropy) of ankle impedance in the 2-D space formed by rotations in the sagittal and frontal planes exhibited a characteristic “peanut” shape, weak in inversion-eversion over a wide range of frequencies from the stiffness dominated region up to the inertia dominated region. Implications for the assessment of neurological and biomechanical impairments are discussed.

Hyunglae Lee

Papers

Time-Varying Ankle Mechanical Impedance During Human Locomotion

Summary of Human Ankle Mechanical Impedance During Walking

Multivariable Static Ankle Mechanical Impedance With Active Muscles

Multivariable static ankle mechanical impedance with relaxed muscles.

Multivariable Dynamic Ankle Mechanical Impedance With Relaxed Muscles