AUTHOR=Tagliamonte Nevio Luigi , Valentini Simona , Sudano Angelo , Portaccio Iacopo , De Leonardis Chiara , Formica Domenico , Accoto Dino TITLE=Switching Assistance for Exoskeletons During Cyclic Motions JOURNAL=Frontiers in Neurorobotics VOLUME=13 YEAR=2019 URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2019.00041 DOI=10.3389/fnbot.2019.00041 ISSN=1662-5218 ABSTRACT=

This paper proposes a novel control algorithm for torque-controlled exoskeletons assisting cyclic movements. The control strategy is based on the injection of energy parcels into the human-robot system with a timing that minimizes perturbations, i.e., when the angular momentum is maximum. Electromyographic activity of main flexor-extensor knee muscles showed that the proposed controller mostly favors extensor muscles during extension, with a statistically significant reduction in muscular activity in the range of 10–20% in 60 out of 72 trials (i.e., 83%), while no effect related to swinging speed was recorded (speed variation was lower than 10% in 92% of the trials). In the remaining cases muscular activity increment, when statistically significant, was less than 10%. These results showed that the proposed algorithm reduced muscular effort during the most energetically demanding part of the movement (the extension of the knee against gravity) without perturbing the spatio-temporal characteristics of the task and making it particularly suitable for application in exoskeleton-assisted cyclic motions.