Virtual Neuromuscular Control for Robotic Ankle Exoskeleton Standing Balance

摘要

The exoskeleton is often regarded as a tool for rehabilitation and assistance of human movement. The control schemes were conventionally implemented by developing accurate physical and kinematic models, which often lack robustness to external variational disturbing forces. This paper presents a virtual neuromuscular control for robotic ankle exoskeleton standing balance. The robustness of the proposed method was improved by applying a specific virtual neuromuscular model to estimate the desired ankle torques for ankle exoskeleton standing balance control. In specialty, the proposed control method has two key components, including musculoskeletal mechanics and neural control. A simple version of the ankle exoskeleton was designed, and three sets of comparative experiments were carried out. The experimentation results demonstrated that the proposed virtual neuromuscular control could effectively reduce the wearer’s lower limb muscle activation, and improve the robustness of the different external disturbances.