Ankle exoskeleton torque controllers based on soleus muscle models.

ABSTRACT: Powered exoskeletons are typically task-specific, but to facilitate their wider adoption they should support a variety of tasks, which requires generalizeable controller designs. In this paper, we present two potential controllers for ankle exoskeletons based on soleus fascicles and Achilles tendon models. The methods use an estimate of the adenosine triphosphate hydrolysis rate of the soleus based on fascicle velocity. Models were evaluated using muscle dynamics from the literature, which were measured with ultrasound. We compare the simulated behavior of these methods against each other and to human-in-the-loop optimized torque profiles. Both methods generated distinct profiles for walking and running with speed variations. One of the approaches was more appropriate for walking, while th

SUBMITTER: Pridham PS 

PROVIDER: S-EPMC9970081 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature