NSF National Robotics Initiative: Rapid exploration of robotic ankle - - PowerPoint PPT Presentation

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nsf national robotics initiative

NSF National Robotics Initiative: Rapid exploration of robotic ankle - - PowerPoint PPT Presentation

Oct 21, 2023 132 likes •217 views

NSF National Robotics Initiative: Rapid exploration of robotic ankle exoskeleton control strategies PI: Steve Collins Carnegie Mellon University Experimental Biomechatronics Laboratory Steve Collins Carnegie Mellon University

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

NSF National Robotics Initiative: Rapid exploration of robotic ankle exoskeleton control strategies PI: Steve Collins Carnegie Mellon University Experimental Biomechatronics Laboratory

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

Project Overview Missing keys for exoskeleton design:

Tools for rapid, systematic exploration
Neuromechanics models of performance

Our approach:

Universal ankle-foot exoskeleton emulator
Measures from muscle fascicle to whole body

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

Universal ankle-exoskeleton emulator Trades autonomy for exceptional versatility. From idea to experiment in hours, not years.

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

Multi-scale locomotion physiology toolset From whole-body dynamics and chemistry… … to individual muscle mechanics and activation

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

Assistance strategies worth exploring

1. Impedance: springs and (negative) dampers
2. Proportional EMG: muscle amplifier
3. Reflex-like: virtual muscles and neurons
4. Trajectory-based: on the clock

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

Intra-controller experiments Systematic exploration along key parameters

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

Inter-controller experiments Comparison of each approach at its best

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Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  stevecollins@cmu.edu

1. Jackson and Collins (2014) In review: Journal of Experimental Biology
2. Zhang and Collins (2014) In review: International Journal of Robotics Research
3. Witte and Collins (2015) In preparation for International Conference on Robotics and Automation

Milestones: Ahead of Schedule Completed:

Embodiment of all high-level controllers1
Parameter sweep on impedance control2
Platform improvements and duplication3

In progress:

Proportional EMG sweep (Q2, 2015)
Online optimization (Q4, 2014)
Expansion to knee (Q4, 2014)