인체 근골격 시뮬레이션을 활용한 인체 보행 시 외골격의 고관절 굴곡/신장 토크 최적화
Optimization of Hip Flexion/Extension Torque of Exoskeleton During Human Gait Using Human Musculoskeletal Simulation
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초록
Research on walking assistance exoskeletons that provide optimized torque to individuals has been conducted steadily, and these studies aim to help users feel stable when walking and get help that suits their intentions. Because exoskeleton auxiliary efficiency evaluation is based on metabolic cost savings, experiments on real people are needed to evaluate continuously evolving control algorithms. However, experiments with real people always require risks and high costs. Therefore, in this study, we intend to actively utilize human musculoskeletal simulation. First, to improve the accuracy of musculoskeletal models, we propose a body segment mass distribution algorithm using body composition analysis data that reflects body characteristics. Secondly, the efficiency of most exoskeleton torque control algorithms is evaluated as the reduction rate of Metabolic Cost. In this study, we assume that the torque minimizing the Metabolic Cost is the optimal torque and propose a method for obtaining the torque.
Abstract
Research on walking assistance exoskeletons that provide optimized torque to individuals has been conducted steadily, and these studies aim to help users feel stable when walking and get help that suits their intentions. Because exoskeleton auxiliary efficiency evaluation is based on metabolic cost savings, experiments on real people are needed to evaluate continuously evolving control algorithms. However, experiments with real people always require risks and high costs. Therefore, in this study, we intend to actively utilize human musculoskeletal simulation. First, to improve the accuracy of musculoskeletal models, we propose a body segment mass distribution algorithm using body composition analysis data that reflects body characteristics. Secondly, the efficiency of most exoskeleton torque control algorithms is evaluated as the reduction rate of Metabolic Cost. In this study, we assume that the torque minimizing the Metabolic Cost is the optimal torque and propose a method for obtaining the torque.
참고문헌 (6)
- Keehong Seo, "Fully autonomous hip exoskeleton saves metabolic cost of walking", 2016 IEEE International Conference on Robotics and Automation (ICRA) (2016), IEEE
- Gian Maria Gasparri, "Proportional Joint-Moment Control for Instantaneously Adaptive Ankle Exoskeleton Assistance", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27(4), pp.751~759 (2019), Institute of Electrical and Electronics Engineers (IEEE)[DOI]
- Daniel F. N. Gordon, "Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost", IEEE Transactions on Robotics, 38(3), pp.1410~1429 (2022), Institute of Electrical and Electronics Engineers (IEEE)[DOI]
- 송성재, "보행 중 하지 관절의 역동역학 해석", 의공학회지, 25(4), pp.10~10 (2004), 대한의용생체공학회
- D. A. Winter, "Biomechanics and Motor Control of Human Movement" (2009), John Wiley & Sons
- Brian R. Umberger, "Stance and swing phase costs in human walking", Journal of The Royal Society Interface, 7(50), pp.1329~1340 (2010), The Royal Society[DOI]