eprintid: 22785
rev_number: 17
eprint_status: archive
userid: 3049
dir: disk0/00/02/27/85
datestamp: 2017-04-04 11:56:52
lastmod: 2019-02-21 09:53:31
status_changed: 2017-04-04 11:56:52
type: article
metadata_visibility: show
creators_name: Manns, Paul
creators_name: Sreenivasa, Manish
creators_name: Millard, Matthew
creators_name: Mombaur, Katja
title: Motion optimization and parameter identification for a human and lower-back exoskeleton model
subjects: 500
subjects: 600
subjects: 610
divisions: 110300
cterms_swd: robotics
cterms_swd: exoskeleton
cterms_swd: optimal control
abstract: Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models
of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we present a study that models the interaction between a human model actuated by muscles and a lower-back exoskeleton. We provide a computational framework for identifying the spring parameters of the exoskeleton using an optimal control approach and forward-dynamics simulations. This is applied to generate dynamically consistent bending and lifting movements in the sagittal plane. Our computations are able to predict motions and forces of the human and exoskeleton that are within the torque limits of a subject. The identified exoskeleton could also
yield a considerable reduction of the peak lower-back torques as well as the cumulative lower-back load during the movements. This work is relevant to the research communities working on human-robot interaction, and can be used as a basis for a better human-centered design process.
date: 2017-03-01
id_scheme: DOI
id_number: 10.11588/heidok.00022785
fp7_project_id: 687662
ppn_swb: 1657852938
own_urn: urn:nbn:de:bsz:16-heidok-227858
language: eng
bibsort: MANNSPAULMOTIONOPTI20170301
full_text_status: public
publication: IEEE ROBOTICS AND AUTOMATION LETTERS
volume: 2
number: 3
pagerange: 1564-1570
issn: 2377-3766
citation:   Manns, Paul ; Sreenivasa, Manish ; Millard, Matthew ; Mombaur, Katja  (2017) Motion optimization and parameter identification for a human and lower-back exoskeleton model.  IEEE ROBOTICS AND AUTOMATION LETTERS, 2 (3).  pp. 1564-1570.  ISSN 2377-3766     
document_url: https://archiv.ub.uni-heidelberg.de/volltextserver/22785/1/LRA2676355.pdf