Advanced search
2 files | 1.45 MB Add to list

Human-in-the-loop optimization of exoskeleton assistance during walking

(2017) SCIENCE. 356(6344). p.1280-1284
Author
Organization
Abstract
Exoskeletons and active prostheses promise to enhance human mobility, but few have succeeded. Optimizing device characteristics on the basis of measured human performance could lead to improved designs. We have developed a method for identifying the exoskeleton assistance that minimizes human energy cost during walking. Optimized torque patterns from an exoskeleton worn on one ankle reduced metabolic energy consumption by 24.2 +/- 7.4% compared to no torque. The approach was effective with exoskeletons worn on one or both ankles, during a variety of walking conditions, during running, and when optimizing muscle activity. Finding a good generic assistance pattern, customizing it to individual needs, and helping users learn to take advantage of the device all contributed to improved economy. Optimization methods with these features can substantially improve performance.
Keywords
ROBOTIC ANKLE EXOSKELETON, ENERGETIC COST, GAIT, PROSTHESIS, DESIGN, WORK, PERFORMANCE, LOCOMOTION

Downloads

  • (...).pdf
    • full text
    • |
    • UGent only
    • |
    • PDF
    • |
    • 579.84 KB
  • (...).pdf
    • supplementary material
    • |
    • UGent only
    • |
    • PDF
    • |
    • 865.92 KB

Citation

Please use this url to cite or link to this publication:

MLA
Zhang, Juanjuan et al. “Human-in-the-loop Optimization of Exoskeleton Assistance During Walking.” SCIENCE 356.6344 (2017): 1280–1284. Print.
APA
Zhang, Juanjuan, Fiers, P., Witte, K. A., Jackson, R. W., Poggensee, K. L., Atkeson, C. G., & Collins, S. H. (2017). Human-in-the-loop optimization of exoskeleton assistance during walking. SCIENCE, 356(6344), 1280–1284.
Chicago author-date
Zhang, Juanjuan, Pieter Fiers, Kirby A Witte, Rachel W Jackson, Katherine L Poggensee, Christopher G Atkeson, and Steven H Collins. 2017. “Human-in-the-loop Optimization of Exoskeleton Assistance During Walking.” Science 356 (6344): 1280–1284.
Chicago author-date (all authors)
Zhang, Juanjuan, Pieter Fiers, Kirby A Witte, Rachel W Jackson, Katherine L Poggensee, Christopher G Atkeson, and Steven H Collins. 2017. “Human-in-the-loop Optimization of Exoskeleton Assistance During Walking.” Science 356 (6344): 1280–1284.
Vancouver
1.
Zhang J, Fiers P, Witte KA, Jackson RW, Poggensee KL, Atkeson CG, et al. Human-in-the-loop optimization of exoskeleton assistance during walking. SCIENCE. 2017;356(6344):1280–4.
IEEE
[1]
J. Zhang et al., “Human-in-the-loop optimization of exoskeleton assistance during walking,” SCIENCE, vol. 356, no. 6344, pp. 1280–1284, 2017.
@article{8609743,
  abstract     = {Exoskeletons and active prostheses promise to enhance human mobility, but few have succeeded. Optimizing device characteristics on the basis of measured human performance could lead to improved designs. We have developed a method for identifying the exoskeleton assistance that minimizes human energy cost during walking. Optimized torque patterns from an exoskeleton worn on one ankle reduced metabolic energy consumption by 24.2 +/- 7.4% compared to no torque. The approach was effective with exoskeletons worn on one or both ankles, during a variety of walking conditions, during running, and when optimizing muscle activity. Finding a good generic assistance pattern, customizing it to individual needs, and helping users learn to take advantage of the device all contributed to improved economy. Optimization methods with these features can substantially improve performance.},
  author       = {Zhang, Juanjuan and Fiers, Pieter and Witte, Kirby A and Jackson, Rachel W and Poggensee, Katherine L and Atkeson, Christopher G and Collins, Steven H},
  issn         = {0036-8075},
  journal      = {SCIENCE},
  keywords     = {ROBOTIC ANKLE EXOSKELETON,ENERGETIC COST,GAIT,PROSTHESIS,DESIGN,WORK,PERFORMANCE,LOCOMOTION},
  language     = {eng},
  number       = {6344},
  pages        = {1280--1284},
  title        = {Human-in-the-loop optimization of exoskeleton assistance during walking},
  url          = {http://dx.doi.org/10.1126/science.aal5054},
  volume       = {356},
  year         = {2017},
}

Altmetric
View in Altmetric
Web of Science
Times cited: