title: Oscillator-based assistance of cyclical movements: model-based and model-free approaches.
abstract: In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assisting robot's own encoders. The approach is based on adaptive oscillators, i.e., mathematical tools that are capable of learning the high level features (frequency, envelope, etc.) of a periodic input signal. Here we present two experiments that we recently conducted to validate our approach: a simple sinusoidal movement of the elbow, that we designed as a proof-of-concept, and a walking experiment. In both cases, we collected evidence illustrating that our approach indeed assisted healthy subjects during movement execution. Owing to the intrinsic periodicity of daily life movements involving the lower-limbs, we postulate that our approach holds promise for the design of innovative rehabilitation and assistance protocols for the lower-limb, requiring little to no user-specific calibration.
authors: Biorobotics Laboratory, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015, Lausanne, Switzerland. renaud.ronsse@uclouvain.be
authors: Renaud
authors: R
authors: Ronsse
authors: Tommaso
authors: T
authors: Lenzi
authors: Nicola
authors: N
authors: Vitiello
authors: Bram
authors: B
authors: Koopman
authors: Edwin
authors: E
authors: van Asseldonk
authors: Stefano Marco Maria
authors: SM
authors: De Rossi
authors: Jesse
authors: J
authors: van den Kieboom
authors: Herman
authors: H
authors: van der Kooij
authors: Maria Chiara
authors: MC
authors: Carrozza
authors: Auke Jan
authors: AJ
authors: Ijspeert
mesh_terms: D000222:Adaptation, Physiological / Q000502:physiology; D000328:Adult; D001683:Biological Clocks / Q000502:physiology; D004576:Electromyography / Q000379:methods; D005260:Female; D006801:Humans; D008297:Male; D008328:Man-Machine Systems; D008954:Models, Biological; D009068:Movement / Q000502:physiology; D012371:Robotics / Q000379:methods*; D012656:Self-Help Devices; D012815:Signal Processing, Computer-Assisted; D016138:Walking / Q000502:physiology; D055815:Young Adult