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Autonomous Robots
Erschienen in: Autonomous Robots 3/2017

25.02.2016

Human sit-to-stand transfer modeling towards intuitive and biologically-inspired robot assistance

verfasst von: Milad Geravand, Peter Zeno Korondi, Christian Werner, Klaus Hauer, Angelika Peer

Erschienen in: Autonomous Robots | Ausgabe 3/2017

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Abstract

Sit-to-stand (STS) transfers are a common human task which involves complex sensorimotor processes to control the highly nonlinear musculoskeletal system. In this paper, typical unassisted and assisted human STS transfers are formulated as optimal feedback control problem that finds a compromise between task end-point accuracy, human balance, energy consumption, smoothness of motion and control and takes further human biomechanical control constraints into account. Differential dynamic programming is employed, which allows taking the full, nonlinear human dynamics into consideration. The biomechanical dynamics of the human is modeled by a six link rigid body including leg, trunk and arm segments. Accuracy of the proposed modelling approach is evaluated for different human healthy and patient/elderly subjects by comparing simulations and experimentally collected data. Acceptable model accuracy is achieved with a generic set of constant weights that prioritize the different criteria. Finally, the proposed STS model is used to determine optimal assistive strategies suitable for either a person with specific body segment weakness or a more general weakness. These strategies are implemented on a robotic mobility assistant and are intensively evaluated by 33 elderlies, mostly not able to perform unassisted STS transfers. The validation results show a promising STS transfer success rate and overall user satisfaction.
Vorheriger Artikel Navigating blind people with walking impairments using a smart walker
Nächster Artikel Probabilistic movement primitives for coordination of multiple human–robot collaborative tasks

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Fußnoten
1
Stiffness of the human segments, specially arms, is neglected in the model assuming that the human willingly accomplishes the STS task and thus, reacts very stiff to external forces.
 
2
Please note that a precise study of the human balance behavior during a STS is out of focus of this paper, but is a very interesting biomechanical research question. Currently no study focusing on the balance criteria used during a human STS transfer that could inform the selection of these criteria could be found in literature and therefore regulation of the human ZMP position has been considered as a postural regulator as proposed by Li et al. (2011).
 
3
The base of support (BOS), which determines the values of \(\varvec{p}^{min}_{zmp}\) and \(\varvec{p}^{max}_{zmp}\)), typically includes the size of the feet and the room between them for a human without external support, respectively unassisted STS. For the assisted case, when the human firmly grasps the robot handles a larger BOS area can be considered. Since this, however, requires detecting whether the human stably grasps the handles and the current robotic platform is not equipped with proper sensors to do so, we decided to simplify the problem and to consider the most restrictive case defined by the BOS of the human user only.
 
4
Please note that the same values for all diagonal elements are considered for each weighting matrix.
 
5
This required that the image-based 3D-recordings of the trials were cleaned from gaps, phantom markers, flickering and other inconsistencies which occurred due to occlusions, reflections, loose clothes of the patient, missing markers, and other unexpected incidences during the recordings. Moreover, marker trajectories that have been mismatched by the automatic marker identification algorithms of the software had to be identified and reassigned manually.
 
6
Please note that at the time of performing experiments no detailed information on anthropometric data and mass distributions in elderlies was available in literature and thus, the parameters in Zatsiorsky et al. were considered to approach the problem. However, very recently (in Sep 2015) a new study by Hoang and Mombaur (2015) proposed an adaptation of the parameters defined in De Leva (1996) specifically for elderlies. Using these adapted formulas may lead to a better estimation of the anthropometric data of elderly subjects.
 
7
The box constraints in the bilevel optimization (Eq. 7) were considered to be in the range of \(W_i * 10^{-2}\) to \(W_i * 10^{-2}\) in order to consider a relatively large search space.
 
8
Please note that no correlation analysis has been performed on other weighting factors of the cost function.
 
9
Please note that although subjects were asked to minimize variation, still non-negligible differences were observed, especially for initial upper body inclination and feet positions.
 
10
In Tassa et al. (2012), Li and Todorov (2004) authors proposed different improvements to the iterative LQG method including solutions to the invertability problem of \(\varvec{S}_{k}\) that have been also considered in the above-mentioned DDP implementation, but are not explicitly mentioned here because of space limitations.
 
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Metadaten
Titel
Human sit-to-stand transfer modeling towards intuitive and biologically-inspired robot assistance
verfasst von
Milad Geravand
Peter Zeno Korondi
Christian Werner
Klaus Hauer
Angelika Peer
Publikationsdatum
25.02.2016
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 3/2017
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-016-9553-5

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