Walking Assistance Using Artificial Primitives: A Novel Bioinspired Framework Using Motor Primitives for Locomotion Assistance Through a Wearable Cooperative Exoskeleton

• Published in: IEEE robotics & automation magazine Vol. 23; no. 1; pp. 83 - 95
• Main Authors: Ruiz Garate, Virginia, Parri, Andrea, Tingfang Yan, Munih, Marko, Molino Lova, Raffaele, Vitiello, Nicola, Ronsse, Renaud
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.03.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Bioinspired robots; Exoskeletons; Legged locomotion; Torque control
• ISSN: 1070-9932; 1558-223X
• DOI: 10.1109/MRA.2015.2510778

Bioinspiration in robotics deals with applying biological principles to the design of better performing devices. In this article, we propose a novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative exoskeleton. In particular, the use of motor primitives for assisting different locomotion modes (i.e., ground-level walking at several cadences and ascending and descending stairs) is explored by means of two different strategies. In the first strategy, identified motor primitives are combined through weights to directly produce the desired assistive torque profiles. In the second strategy, identified motor primitives are combined to serve as neural stimulations to a virtual model of the musculoskeletal system, which, in turn, produces the desired assistive torque profiles.