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arXiv 2018年

作者： Sreenivasa, Manish Millard, Matthew Manns, Paul Mombaur, Katja Optimization in Robotics & Biomechanics group Interdisciplinary Center for Scientific Computing Heidelberg University Berlinerstr. 45 Heidelberg69120 Germany

The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the possibility to study and improve this interaction. In addition, optimal control can also be used to generate predictive simulations that generate novel movements for the human model under varying optimization criterion. Copyright © 2018, The Authors. All rights reserved.

关键词： Wearable technology

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Optimal control for balance assistance using a robotic rollator 6

Optimal control for balance assistance using a robotic rolla...

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6th IEEE RAS/EMBS International Conference on Biomedical robotics and Biomechatronics, BioRob 2016

作者： Corradi, Davide Ho Hoang, Khai-Long Mombaur, Katja Interdisciplinary Center for Scientific Computing Optimization in Robotics and Biomechanics Group University of Heidelberg Germany

ISBN: (纸本)9781509032877

Research concerning intelligent robotic mobility AIDS for elderly people is raising in importance due to the prediction of the increase in the average age of the population in the near future and the consequent lack in professional care that can be expected. Such devices could provide not only navigational and cognitive assistance, but also enhanced physical support, for example when the patient is standing up or losing balance while walking or standing. This work considers a robotic rollator equipped with actuated handles which are capable of motions on the sagittal plane. The aim is to develop a methodology, based on optimal control and rigid body models of the user and of the device, to compute optimal handle trajectories to help the user regain an upright, balanced posture starting from perturbed initial conditions while standing without walking. Handle trajectories for different initial perturbations of the patient are computed for the MOBOT project rollator device and presented. © 2016 IEEE.

关键词： Intelligent robots

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Towards Low Back Support with a Passive Biomimetic Exo-Spine

Towards Low Back Support with a Passive Biomimetic Exo-Spine

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International Conference on Rehabilitation robotics

作者： Matthias B. Naf Laura De Rijcke Carlos Rodriguez Guerrero Matthew Millard Bram Vanderborght Dirk Lefeber Department of Mechanical Engineering Robotics and Multibody Mechanics (R&MM) Research Group Vrije Universiteit Brussel Optimization in Robotics and Biomechanics (ORB) Group Interdisciplinary Center for Scientific Computation (IWR) Heidelberg University

ISBN: (纸本)9781538622971

Low-Back Pain (LBP) affects a large portion of the working population. Preventive exoskeletons have been proposed to reduce the moments on the lower back, specifically around the lumbosacral (L5/S1) joint. High correlation has been shown, between reducing the moments around the L5/S1 joint and intervertebral compression forces, which in turn have been identified as a risk factor for developing LBP. However, most passive back support exoskeletons use rigid plates or stiff beams to support the spine that limit the range of motion of the wearer. A large range of motion and versatility are especially desirable for industrial applications. To overcome these limitations, a passive biomimetic exo-spine has been designed, modelled and an initial prototype tested. Its potential to allow for a large range of motion, whilst at the same time limiting the most extreme and potentially harmful postures has been shown.

关键词： Joint Range of Motion back propping Biomimetics Moment of force LBP gene LBP Risk Factors spines Spine rigid plate

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Optimal control for balance assistance using a robotic rollator

Optimal control for balance assistance using a robotic rolla...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Davide Corradi Khai-Long Ho Hoang Katja Mombaur Optimization in Robotics and Biomechanics Group University of Heidelberg

ISBN: (纸本)9781509032884

Research concerning intelligent robotic mobility aids for elderly people is raising in importance due to the prediction of the increase in the average age of the population in the near future and the consequent lack in professional care that can be expected. Such devices could provide not only navigational and cognitive assistance, but also enhanced physical support, for example when the patient is standing up or losing balance while walking or standing. This work considers a robotic rollator equipped with actuated handles which are capable of motions on the sagittal plane. The aim is to develop a methodology, based on optimal control and rigid body models of the user and of the device, to compute optimal handle trajectories to help the user regain an upright, balanced posture starting from perturbed initial conditions while standing without walking. Handle trajectories for different initial perturbations of the patient are computed for the MOBOT project rollator device and presented.

关键词： Optimal control Mathematical model Legged locomotion Force Dynamics Trajectory

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Modeling and Identification of a Realistic Spiking Neural Network and Musculoskeletal Model of the Human Arm, and an Application to the Stretch Reflex

Modeling and Identification of a Realistic Spiking Neural Ne...

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作者： Sreenivasa, Manish Ayusawa, Ko Nakamura, Yoshihiko Optimization in Robotics and Biomechanics Group Interdisciplinary Center for Scientific Computing University of Heidelberg Heidelberg69115 Germany Tsukuba305-8560 Japan Department of Mechanoinformatics University of Tokyo Tokyo113-8656 Japan

This study develops a multi-level neuromuscular model consisting of topological pools of spiking motor, sensory and interneurons controlling a bi-muscular model of the human arm. The spiking output of motor neuron pools were used to drive muscle actions and skeletal movement via neuromuscular junctions. Feedback information from muscle spindles were relayed via monosynaptic excitatory and disynaptic inhibitory connections, to simulate spinal afferent pathways. Subject-specific model parameters were identified from human experiments by using inverse dynamics computations and optimization methods. The identified neuromuscular model was used to simulate the biceps stretch reflex and the results were compared to an independent dataset. The proposed model was able to track the recorded data and produce dynamically consistent neural spiking patterns, muscle forces and movement kinematics under varying conditions of external forces and co-contraction levels. This additional layer of detail in neuromuscular models has important relevance to the research communities of rehabilitation and clinical movement analysis by providing a mathematical approach to studying neuromuscular pathology. © 2015 IEEE.

关键词： Digital storage

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Patient specific corotated FEM simulation and gelatin phantom for prostate brachytherapy

Patient specific corotated FEM simulation and gelatin phanto...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Marina Horn Benjamin Reh Frederik Wenz Jan Stallkamp Katja Mombaur Research group Optimization in Robotics and Biomechanics (ORB) University of Heidelberg Heidelberg Germany Department of Radiation Oncology University Medical Center Mannheim Mannheim Germany Faunhofer-IPA Mannheim Germany

ISBN: (纸本)9781509032884

Brachytherapy is a common therapy for prostate cancer in which radioactive seeds are inserted in the prostate by means of long needles. Steering these needles such that the seeds arrive at the predetermined places in the prostate without damaging other organs is a challenging task. In this paper we propose an approach that simultaneously develops patient specific simulation models for the needle insertion problems as well as a patient specific phantom for practical evaluation. A novel method for developing a fully 3D phantom of the pelvic region using 3D printing technology and gelatin is presented. Simulation models of brachytherapy based on finite elements have been established in the open source framework SOFA and allow to study needle deflection and needle paths. This combined approach allows an evaluation of the simulated results by means of the experiments.

关键词： Needles Brachytherapy Phantoms Load modeling Finite element analysis Deformable models Data models

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Gait performance indicators for elderly humans interacting with robotic mobility assistance devices 14

Gait performance indicators for elderly humans interacting w...

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14th IEEE/RAS-EMBS International Conference on Rehabilitation robotics, ICORR 2015

作者： Hoang, Khai-Long Ho Corradi, Davide Delbasteh, Sascha Mombaur, Katja Interdisciplinary Center for Scientific Computing Optimization in Robotics and Biomechanics Group University of Heidelberg Heidelberg69115 Germany

ISBN: (纸本)9781479918072

Robotic mobility assistance devices provide a purposeful and adaptive support for elderly humans. To achieve assistance which is specifically adapted to the individual needs and capabilities of the user, the device should be capable of estimating the overall gait performance as well as the current state of the subject on-line. Information gathered by on-board sensors could be exploited to obtain, amongst other values, the interaction forces, positions and velocities of the subject. Although in principle it would be desirable to obtain whole-body motion information of the precision of data collected by marker-based motion capture systems, this is not possible by the on-board sensors and computational units. It is generally also not acceptable to make subjects wear additional accessories during the every-day usage of the device. In this paper, we present methods to identify gait parameters based on easily accessible on-line sensor information. We derive temporo-spatial gait performance indicators which can be used by robotic mobility aid platforms to evaluate the performance of the user and apply individualized user-Adaptive assistance strategies. By analyzing the correlation between these parameters we propose a set of gait performance indicators and derive performance classes that can be used in combination or isolated. © 2015 IEEE.

关键词： Benchmarking

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Optimal design of a physical assistive device to support sit-to-stand motions

Optimal design of a physical assistive device to support sit...

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2015 IEEE International Conference on robotics and Automation, ICRA 2015

作者： Ho Hoang, Khai-Long Mombaur, Katja D. Interdisciplinary Center for Scientific Computing Optimization in Robotics and Biomechanics Group University of Heidelberg Heidelberg69115 Germany

ISBN: (纸本)9781479969234

The MOBOT∗ project aims to develop assistive devices that support elderly patients with mobility disabilities during gait and sit-to-stand (STS) transfer. The device is supposed to help such patients to maintain an independent life through mobility as well as to regain basic life skills since self-effort is encouraged. Situation-adapted optimal assistance will be provided by the device both proactively and adaptively through behavior-based and context-aware robot control based on multimodal action recognition. The design of such a device, including the choice of actuators, which can provide the desired level of support without losing balance, is a challenging task. For these design choices, in particular STS motions have to be considered since they are more demanding for both the patient and the device. In this paper, we present a model-based optimization approach to this design task, using direct multiple shooting optimal control methods. They are applied to simultaneously determine optimal states and controls as well as the optimal mechanical design parameters of the assistive device that provide optimal STS assistance to subjects from a range of body heights and weights that represents the MOBOT target group. © 2015 IEEE.

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Learning Movement Primitives from Optimal and Dynamically Feasible Trajectories for Humanoid Walking

Learning Movement Primitives from Optimal and Dynamically Fe...

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IEEE-RAS International Conference on Humanoid Robots

作者： Kai Henning Koch Debora Clever Katja Mombaur Dominik Endres Interdisciplinary Center for Scientific Computing (IWR) Optimization in Robotics & Biomechanics (ORB) University of Heidelberg Theoretical Neuroscience Group Dept. Psychology Philipps-University Marburg

ISBN: (纸本)9781479968862

We present a new approach for humanoid gait generation based on movement primitives learned from optimal and dynamically feasible motion trajectories. As testing platform we consider the humanoid robot HRP-2, so far only in simulation. Training data is generated by solving a set of optimal control problems for a minimum-torque optimality criterion and five different step lengths. As the dynamic robot model with all its kinematic and dynamic constraints is considered in the optimal control problem formulation, the resulting motion trajectories are not only optimal but also dynamically feasible. For the learning process we consider the joint angle trajectories of all actuated joints, the ZMP trajectory and the pelvis trajectory, which are sufficient quantities to control the robot. From the training data we learn morphable movement primitives based on Gaussian processes and principal component analysis. We show that five morphable primitives are sufficient to generate steps with 24 different lengths, which are close enough to both dynamical feasibility and optimality to be useful for fast on-line movement generation.

关键词： trajectory Optimal Humanoid Movements step size optimality Problem Formulation Optimal control Robot joint angle Gaussian processes Learning processes kinematics

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optimization model of the predictive head orientation for humanoid robots

Optimization model of the predictive head orientation for hu...

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IEEE-RAS International Conference on Humanoid Robots

作者： Marina Horn Manish Sreenivasa Katja Mombaur Research group Optimization in Robotics and Biomechanics (ORB) University of Heidelberg Heidelberg Germany

ISBN: (纸本)9781479971756

Most studies on humanoid robot locomotion focus on the dynamic stability of the robot and movements of the limbs. The role of the head during locomotion is one aspect that has received relatively little focus. In humans, the head plays a very important role of stabilizing in space and anticipating walking direction. In order to generate realistic humanoid motion, this is a vital aspect that must be taken into account. In this study, we propose a generalized framework for modeling human like head-body behavior during locomotion. We developed a dynamic model of the head and body orientation in which the head orientation is actively controlled and the trunk is coupled to it by a rotational spring-damper like term. Least-squares optimization was used to determine the parameters of this model from recorded human experimental data. The results were evaluated against novel recordings and provided a good prediction of human behavior. Our approach is an effective way to create human-like motions for anthropomorphic agents such as humanoid robots, and provides a good mathematical basis for extension to other aspects of human movements.

关键词： Trajectory Data models Optimal control Legged locomotion Springs Shock absorbers optimization

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