"Body-In-The-Loop": Optimizing Device Parameters Using Measures of Instantaneous Energetic Cost

• Published in: PloS one Vol. 10; no. 8; p. e0135342
• Main Authors: Felt, Wyatt, Selinger, Jessica C., Donelan, J. Maxwell, Remy, C. David
• Format: Journal Article
• Language: English
• Published: United States Public Library of Science 19.08.2015; Public Library of Science (PLoS)
• Subjects: Algorithms; Analysis; Animal behavior; Ankle; Biology; Economic aspects; Energy; Exoskeleton; Exoskeletons; Humans; Kinesiology; Mapping; Mechanical engineering; Metabolism; Noise; Objectives; Optimization; Orthoses; Orthotic Devices; Parameter estimation; Parameter identification; Physiology; Polynomials; Prostheses; Prostheses and Implants; Prosthetics; Rehabilitation Research; Response surface methodology; Response surfaces; Robotics - instrumentation; Robotics - methods; Searching; Self-Help Devices; Steady state; User training; Walking; Walking - physiology; Ann Arbor Michigan; Canada; United States > US

This paper demonstrates methods for the online optimization of assistive robotic devices such as powered prostheses, orthoses and exoskeletons. Our algorithms estimate the value of a physiological objective in real-time (with a body "in-the-loop") and use this information to identify optim...