Human-in-the-loop optimization of exoskeleton assistance during walking
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...
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| Published in | Science (American Association for the Advancement of Science) Vol. 356; no. 6344; pp. 1280 - 1284 |
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| Main Authors | , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
United States
American Association for the Advancement of Science
23.06.2017
The American Association for the Advancement of Science |
| Subjects | |
| Online Access | Get full text |
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| 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. |
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| AbstractList | 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. Exoskeletons can be used to augment human abilities—for example, to lift very heavy loads or to provide greater endurance. For each user, though, a device will need to be adjusted for optimum effect, which can be time-consuming. Zhang et al. show that the human can be included in the optimization process, with real-time adaptation of an ankle exoskeleton (see the Perspective by Malcolm et al. ). By using indirect calorimetry to measure metabolic rates, the authors were able to adjust the torque provided by the device while users were walking, running, and carrying a load. Science , this issue p. 1280 ; see also p. 1230 An exoskeleton control system can optimize itself by measuring and minimizing human energy use during walking. 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. Exoskeletons can be used to augment human abilities--for example, to lift very heavy loads or to provide greater endurance. For each user, though, a device will need to be adjusted for optimum effect, which can be time-consuming. Zhang et al. show that the human can be included in the optimization process, with real-time adaptation of an ankle exoskeleton (see the Perspective by Malcolm et al.). By using indirect calorimetry to measure metabolic rates, the authors were able to adjust the torque provided by the device while users were walking, running, and carrying a load.Science, this issue p. 1280; see also p. 1230 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. Optimum human inputExoskeletons can be used to augment human abilities-for example, to lift very heavy loads or to provide greater endurance. For each user, though, a device will need to be adjusted for optimum effect, which can be time-consuming. Zhang et al. show that the human can be included in the optimization process, with real-time adaptation of an ankle exoskeleton (see the Perspective by Malcolm et al.). By using indirect calorimetry to measure metabolic rates, the authors were able to adjust the torque provided by the device while users were walking, running, and carrying a load.Science, this issue p. 1280; see also p. 1230 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 plus or minus 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. 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.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 | Witte, Kirby A. Jackson, Rachel W. Collins, Steven H. Poggensee, Katherine L. Atkeson, Christopher G. Zhang, Juanjuan Fiers, Pieter |
| Author_xml | – sequence: 1 givenname: Juanjuan surname: Zhang fullname: Zhang, Juanjuan – sequence: 2 givenname: Pieter surname: Fiers fullname: Fiers, Pieter – sequence: 3 givenname: Kirby A. surname: Witte fullname: Witte, Kirby A. – sequence: 4 givenname: Rachel W. surname: Jackson fullname: Jackson, Rachel W. – sequence: 5 givenname: Katherine L. surname: Poggensee fullname: Poggensee, Katherine L. – sequence: 6 givenname: Christopher G. surname: Atkeson fullname: Atkeson, Christopher G. – sequence: 7 givenname: Steven H. surname: Collins fullname: Collins, Steven H. |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/28642437$$D View this record in MEDLINE/PubMed |
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| Snippet | Exoskeletons and active prostheses promise to enhance human mobility, but few have succeeded. Optimizing device characteristics on the basis of measured human... Exoskeletons can be used to augment human abilities—for example, to lift very heavy loads or to provide greater endurance. For each user, though, a device will... Exoskeletons can be used to augment human abilities--for example, to lift very heavy loads or to provide greater endurance. For each user, though, a device... Optimum human inputExoskeletons can be used to augment human abilities-for example, to lift very heavy loads or to provide greater endurance. For each user,... |
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| SubjectTerms | Adjustment Ankle Biomechanical Phenomena Calorimetry Devices Energy consumption Energy Metabolism Exoskeleton Exoskeleton Device - standards Exoskeletons Human performance Humans Individual Needs Machine Learning Metabolism Models, Biological Muscles Optimization Prostheses Prosthesis Fitting - instrumentation Prosthesis Fitting - methods Prosthesis Fitting - standards Prosthetics Running Torque Walking Walking - physiology |
| Title | Human-in-the-loop optimization of exoskeleton assistance during walking |
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