生物协同模型预测控制在混合外骨骼中的控制再分配和降低计算成本。

IF 5.2 2区 医学 Q2 ENGINEERING, BIOMEDICAL
Krysten Lambeth;Noor Hakam;Nitin Sharma
{"title":"生物协同模型预测控制在混合外骨骼中的控制再分配和降低计算成本。","authors":"Krysten Lambeth;Noor Hakam;Nitin Sharma","doi":"10.1109/TNSRE.2025.3608567","DOIUrl":null,"url":null,"abstract":"Dynamic optimization is a versatile control tool to determine optimal control inputs in a redundantly actuated wearable robot. However, dynamic optimization requires high computational resources for real-time implementation. In this paper, we present a bio-inspired control approach, based on the principle of muscle synergies, to reduce the computational cost of optimization. The most important linear combinations of actuators, dubbed “artificial synergies,” were identified for the double support phase (DSP) and single support phase (SSP) of walking, allowing for hip, knee, and ankle actuation. In simulations, we compared the bio-inspired (input dimensionality reduced) model predictive control (MPC) with a conventional MPC using the full-dimensional actuation model. For both the DSP and SSP, incorporating synergies reduces the mean number of iterations per optimization step. A minimum number of synergies are indeed necessary to truly achieve redistribution of control effort across the other actuators when a primary muscle is fatigued. Additionally, we provide a practical approach to conduct real-time experiments with the bio-inspired MPC. A data-driven modeling approach is used to identify the nonlinear musculoskeletal dynamics and extract personalized artificial synergies from the experimental hybrid exoskeleton walking data. Synergistic MPC reduces computation time by an average of 28.16% (<inline-formula> <tex-math>${p}\\lt {0}.{03}$ </tex-math></inline-formula>) compared to full-dimensional MPC. Furthermore, we demonstrate control redistribution in response to varying cost function penalties on individual synergy activations. It is, to the authors’ knowledge, the first instance of artificial synergy-based MPC in real-time for a hybrid gait exoskeleton. This study provides insight into the use of bio-inspiration for hybrid exoskeleton control and other rehabilitation systems with redundant actuators.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"33 ","pages":"3755-3769"},"PeriodicalIF":5.2000,"publicationDate":"2025-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11156144","citationCount":"0","resultStr":"{\"title\":\"Bio-Inspired Synergistic Model Predictive Control for Control Reallocation and Reduced Computational Cost in a Hybrid Exoskeleton\",\"authors\":\"Krysten Lambeth;Noor Hakam;Nitin Sharma\",\"doi\":\"10.1109/TNSRE.2025.3608567\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Dynamic optimization is a versatile control tool to determine optimal control inputs in a redundantly actuated wearable robot. However, dynamic optimization requires high computational resources for real-time implementation. In this paper, we present a bio-inspired control approach, based on the principle of muscle synergies, to reduce the computational cost of optimization. The most important linear combinations of actuators, dubbed “artificial synergies,” were identified for the double support phase (DSP) and single support phase (SSP) of walking, allowing for hip, knee, and ankle actuation. In simulations, we compared the bio-inspired (input dimensionality reduced) model predictive control (MPC) with a conventional MPC using the full-dimensional actuation model. For both the DSP and SSP, incorporating synergies reduces the mean number of iterations per optimization step. A minimum number of synergies are indeed necessary to truly achieve redistribution of control effort across the other actuators when a primary muscle is fatigued. Additionally, we provide a practical approach to conduct real-time experiments with the bio-inspired MPC. A data-driven modeling approach is used to identify the nonlinear musculoskeletal dynamics and extract personalized artificial synergies from the experimental hybrid exoskeleton walking data. Synergistic MPC reduces computation time by an average of 28.16% (<inline-formula> <tex-math>${p}\\\\lt {0}.{03}$ </tex-math></inline-formula>) compared to full-dimensional MPC. Furthermore, we demonstrate control redistribution in response to varying cost function penalties on individual synergy activations. It is, to the authors’ knowledge, the first instance of artificial synergy-based MPC in real-time for a hybrid gait exoskeleton. This study provides insight into the use of bio-inspiration for hybrid exoskeleton control and other rehabilitation systems with redundant actuators.\",\"PeriodicalId\":13419,\"journal\":{\"name\":\"IEEE Transactions on Neural Systems and Rehabilitation Engineering\",\"volume\":\"33 \",\"pages\":\"3755-3769\"},\"PeriodicalIF\":5.2000,\"publicationDate\":\"2025-09-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11156144\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Neural Systems and Rehabilitation Engineering\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/11156144/\",\"RegionNum\":2,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, BIOMEDICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","FirstCategoryId":"5","ListUrlMain":"https://ieeexplore.ieee.org/document/11156144/","RegionNum":2,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}
引用次数: 0

摘要

动态优化是一种用于确定冗余驱动可穿戴机器人最优控制输入的通用控制工具。然而,动态优化需要大量的计算资源才能实时实现。在本文中,我们提出了一种基于肌肉协同原理的仿生控制方法,以减少优化的计算成本。最重要的线性执行器组合,被称为“人工协同”,被确定为双支撑阶段(DSP)和单支撑阶段(SSP)的行走,允许髋关节,膝关节和脚踝的驱动。在仿真中,我们使用全维驱动模型比较了仿生(输入降维)模型预测控制(MPC)和传统MPC。对于DSP和SSP,结合协同作用可以减少每个优化步骤的平均迭代次数。当主要肌肉疲劳时,要真正实现跨其他致动器控制力的重新分配,确实需要最小数量的协同作用。此外,我们还提供了一种实用的方法来进行生物启发MPC的实时实验。采用数据驱动的建模方法识别非线性肌肉骨骼动力学,并从混合外骨骼步行实验数据中提取个性化人工协同效应。与全维MPC相比,协同MPC平均减少了28.16%的计算时间(p < 0.03)。此外,我们还演示了控制再分配对个体协同激活的不同成本函数惩罚的响应。据作者所知,这是混合步态外骨骼实时人工协同MPC的第一个实例。这项研究为生物灵感在混合外骨骼控制和其他带有冗余驱动器的康复系统中的应用提供了见解。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Bio-Inspired Synergistic Model Predictive Control for Control Reallocation and Reduced Computational Cost in a Hybrid Exoskeleton
Dynamic optimization is a versatile control tool to determine optimal control inputs in a redundantly actuated wearable robot. However, dynamic optimization requires high computational resources for real-time implementation. In this paper, we present a bio-inspired control approach, based on the principle of muscle synergies, to reduce the computational cost of optimization. The most important linear combinations of actuators, dubbed “artificial synergies,” were identified for the double support phase (DSP) and single support phase (SSP) of walking, allowing for hip, knee, and ankle actuation. In simulations, we compared the bio-inspired (input dimensionality reduced) model predictive control (MPC) with a conventional MPC using the full-dimensional actuation model. For both the DSP and SSP, incorporating synergies reduces the mean number of iterations per optimization step. A minimum number of synergies are indeed necessary to truly achieve redistribution of control effort across the other actuators when a primary muscle is fatigued. Additionally, we provide a practical approach to conduct real-time experiments with the bio-inspired MPC. A data-driven modeling approach is used to identify the nonlinear musculoskeletal dynamics and extract personalized artificial synergies from the experimental hybrid exoskeleton walking data. Synergistic MPC reduces computation time by an average of 28.16% ( ${p}\lt {0}.{03}$ ) compared to full-dimensional MPC. Furthermore, we demonstrate control redistribution in response to varying cost function penalties on individual synergy activations. It is, to the authors’ knowledge, the first instance of artificial synergy-based MPC in real-time for a hybrid gait exoskeleton. This study provides insight into the use of bio-inspiration for hybrid exoskeleton control and other rehabilitation systems with redundant actuators.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
8.60
自引率
8.20%
发文量
479
审稿时长
6-12 weeks
期刊介绍: Rehabilitative and neural aspects of biomedical engineering, including functional electrical stimulation, acoustic dynamics, human performance measurement and analysis, nerve stimulation, electromyography, motor control and stimulation; and hardware and software applications for rehabilitation engineering and assistive devices.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信