Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost

Many assistive robotic devices have been developed to augment or assist human locomotion. Despite advancements in design and control algorithms, this task remains challenging. Human walking strategies are unique complex, assistance based on the dynamics of unassisted locomotion typically offer only modest reductions metabolic cost walking. Recently, human-in-the-loop (HIL) methodologies used identify subject-specific strategies, which significant improvements energy savings. However, current implementations suffer from long measurement times, necessitating use low-dimensional parameterizations, possibly requiring multiday collection protocols avoid subject fatigue. We present a HIL methodology, optimizes torques provided by powered hip exoskeleton. Using musculoskeletal modeling, we able evaluate simulated rate online. applied our methodology torque profiles for seven subjects treadmill, found greater when compared generic off-the-shelf controllers. In secondary investigation, directly compare measured three experiencing range levels. The time investment required via protocol is significantly lower existing relying calorimetry. future, frameworks such as these could be enable shorter exploit more complex parameterizations