Adaptive hip exoskeleton control using heart rate feedback
Author Information
Author(s): Manzoori Ali Reza, Malatesta Davide, Mortier Alexandre, Garcia Johan, Bouri Mohamed
Primary Institution: Ecole Polytechnique Fédérale de Lausanne (EPFL)
Hypothesis
We hypothesized that this strategy would appropriately adapt the assistance amplitude to different locomotor tasks without any task-specific tuning.
Conclusion
The study demonstrated that using heart rate feedback for controlling hip exoskeleton assistance can significantly reduce physical effort during various locomotor tasks.
Supporting Evidence
- The controller successfully adapted assistance timing and amplitude to different activities.
- Effort intensity reductions of up to 12.6% compared to walking with no exoskeleton were observed.
- Heart rate response was rapid, occurring within ∼5s on average.
Takeaway
This study shows that a special robot that helps people walk can use heart rate to know how much help to give, making it easier to walk in different situations.
Methodology
The study evaluated an adaptive control strategy for hip exoskeletons using heart rate and insole pressure sensing with twelve able-bodied participants in a real-world mixed-terrain scenario.
Potential Biases
There may be variability in heart rate responses among individuals, which could affect the effectiveness of the control strategy.
Limitations
The study's findings may not be generalizable to individuals with mobility impairments, and the adaptation may be insufficient during short bursts of activity.
Participant Demographics
12 able-bodied participants (4 women, 8 men; age 23.7 ± 2.7 years; body mass 67.4 ± 7.7 kg; height 1.75 ± 0.08 m).
Statistical Information
P-Value
p=0.009
Statistical Significance
p<0.05
Digital Object Identifier (DOI)
Want to read the original?
Access the complete publication on the publisher's website