PowerPoint Presentation
NSF National Robotics Initiative:Rapid exploration of robotic
ankle exoskeleton control strategies
PI: Steve CollinsCarnegie Mellon UniversityExperimental
Biomechatronics Laboratory
Steve Collins Carnegie Mellon University
biomechatronics.cit.cmu.edu [email protected]
OverviewMissing keys for exoskeleton design:Tools for rapid,
systematic explorationNeuromechanics models of performanceOur
approach:Universal ankle-foot exoskeleton emulatorMeasures from
muscle fascicle to whole bodySteve Collins Carnegie Mellon
University biomechatronics.cit.cmu.edu
[email protected] ankle-exoskeleton emulator
Trades autonomy for exceptional versatility.From idea to
experiment in hours, not years.
Steve Collins Carnegie Mellon University
biomechatronics.cit.cmu.edu [email protected]
locomotion physiology toolset
From whole-body dynamics and chemistry to individual muscle
mechanics and activation
Steve Collins Carnegie Mellon University
biomechatronics.cit.cmu.edu [email protected]
strategies worth exploring
1. Impedance: springs and (negative) dampers2. Proportional EMG:
muscle amplifier3. Reflex-like: virtual muscles and neurons4.
Trajectory-based: on the clock
Steve Collins Carnegie Mellon University
biomechatronics.cit.cmu.edu [email protected]
experiments
Systematic exploration along key parameters
Steve Collins Carnegie Mellon University
biomechatronics.cit.cmu.edu [email protected]
experiments
Comparison of each approach at its best
Steve Collins Carnegie Mellon University
biomechatronics.cit.cmu.edu [email protected]. Jackson and
Collins (2014) In review: Journal of Experimental Biology2. Zhang
and Collins (2014) In review: International Journal of Robotics
Research3. Witte and Collins (2015) In preparation for
International Conference on Robotics and AutomationMilestones:
Ahead of ScheduleCompleted: Embodiment of all high-level
controllers1Parameter sweep on impedance control2Platform
improvements and duplication3In progress: Proportional EMG sweep
(Q2, 2015)Online optimization (Q4, 2014)Expansion to knee (Q4,
2014)Steve Collins Carnegie Mellon University
biomechatronics.cit.cmu.edu [email protected]