Human-in-the-loop optimization of a multi-joint wearable robot for movement assistance
Open access
Date
2020-03Type
- Conference Paper
ETH Bibliography
yes
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Abstract
Soft, lightweight wearable robots can assist individuals with a lower limb weakness. However, it its challenging to identify control parameters that optimize the robotic assistance for a specific user and task. In this context, “Human-in-the-loop” techniques have been suggested to automate this optimization process. Here, we show that the assistance from the Myosuit, a multi-joint wearable robot, can be optimized using a Covariance-Matrix Adaptation Evolution Strategy. The optimization resulted in a reduction of a participant’s energy expenditure that was nearly twice as large (18 % vs. 9.6 %) than when using hand-selected parameters, thereby motivating future work with patients. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000456467Publication status
publishedJournal / series
Proceedings on Automation in Medical EngineeringVolume
Pages / Article No.
Publisher
Infinite Science PublishingEvent
Organisational unit
03654 - Riener, Robert / Riener, Robert
Notes
Conference lecture held March 2, 2020More
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ETH Bibliography
yes
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