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NSF National Robotics Initiative:

NSF National Robotics Initiative: Rapid exploration of robotic ankle exoskeleton control strategies PI: Steve Collins Carnegie Mellon University Experimental Biomechatronics Laboratory. Project Overview Missing keys for exoskeleton design: Tools for rapid, systematic exploration

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NSF National Robotics Initiative:

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

  2. 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

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

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

  5. 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

  6. Intra-controller experiments Systematic exploration along key parameters

  7. Inter-controller experiments Comparison of each approach at its best

  8. Milestones: Ahead of Schedule Completed: • Trajectory embodiment and parameter sweep • one journal article in preparation In progress: • Impedance control embodiment (Q2, 2014) • Proportional EMG embodiment (Q2, 2014) • Reflex-like control embodiment (Q2, 2014) • Platform improvements (Q4, 2014) Next steps: • Parametric analysis of embodied strategies

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