Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons

Abstract

Neuromuscular controllers (NMCs) offer a promising approach to adaptive and task-invariant control of exoskeletons for walking assistance, leveraging the bioinspired models based on the peripheral nervous system. This article expands on our previous development of a novel structure for NMCs with modifications to the virtual muscle model and reflex modulation strategy. The modifications consist firstly of simplifications to the Hill-type virtual muscle model, resulting in a more straightforward formulation and reduced number of parameters; and second, using a finer division of gait subphases in the reflex modulation state machine, allowing for a higher degree of control over the shape of the assistive profile. Based on the proposed general structure, we present two controller variants for hip exoskeletons, with four- and five-state reflex modulations (NMC-4 and NMC-5). We used an iterative data-driven approach with two tuning stages (i.e., muscle parameters and reflex gains) to determine the controller parameters. Biological joint torque profiles and optimal torque profiles for metabolic cost reduction were used as references for the final tuning outcome. Experimental testing under various walking conditions demonstrated the capability of both variants for adapting to the locomotion task with minimal parameter adjustments, mostly in terms of timing. Furthermore, NMC-5 exhibited better alignment with biological and optimised torque profiles in terms of timing characteristics and relative magnitudes, resulting in less negative mechanical work. These findings firstly validate the adequacy of the simplified muscle model for assistive controllers, and demonstrate the utility of a more nuanced reflex modulation in improving the assistance quality.

Keywords

• exoskeleton
• gait assistance
• walking assistance
• bioinspired control
• neuromuscular model