Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we propose the addition of musculoskeletal models directly into the gait generation process to intuitively shape the resulting behavior. In particular, we construct a multi-domain hybrid system model that combines the system dynamics with muscle models to represent natural multicontact walking. Provably stable walking gaits can then be generated for this model via the hybrid zero dynamics (HZD) method. We experimentally apply our integrated framework towards achieving multicontact locomotion on a dual-actuated transfemoral prosthesis, AMPRO3, for two subjects. The results demonstrate that enforcing muscle model constraints produces gaits that yield natural locomotion (as analyzed via comparison to motion capture data and electromyography). Moreover, gaits generated with our framework were strongly preferred by the non-disabled prosthetic users as compared to gaits generated with the nominal HZD method, even with the use of systematic tuning methods. We conclude that the novel approach of combining robotic walking methods (specifically HZD) with muscle models successfully generates anthropomorphic robotic-assisted locomotion.
翻译:在机器人辅助装置上执行时,产生稳定的行走轨迹,产生自然动脉动,这是一项挑战性的任务,往往需要域专家手动调整。本文提出了一种替代方法,我们建议将肌肉骨骼模型直接添加到运动生成过程中,以直观地塑造由此产生的行为。特别是,我们建立了一个多功能混合系统模型,将系统动态与肌肉模型结合起来,以代表自然多接触行走。然后,通过混合零动态(HZD)方法,可以明显地为这一模型产生稳定的行走轨迹。我们实验了我们的综合框架,以在双活性跨转基因假肢(AMPRO3)上实现多功能移动。结果显示,实施肌肉模型的制约会产生产生自然动动动动动(通过与运动捕捉数据和电子仪学的比较来分析 ) 。此外,非残疾假肢使用者非常喜欢通过我们的框架生成的行走轨迹,而不是通过标称的HZD(HZD)方法生成的剧动动作。我们用系统调整方法,我们试验了我们的综合框架,以两边接合方式实现多动的多动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动动。我们。我们的结论是,我们得出了动动动动动动动动动动动动动动动动动动动动的机器人。我们的方法。我们得出了手法。我们得出了手法。我们得出了手法。我们所动的手法。我们得出了手法。我们得出的方法。我们得出的方法。我们得出的结论结论结论结论。我们用新的手法。我们用新的机械动的手法。我们用新动的手法。我们得出了手法,我们用了手法,我们用了手法,我们用了手法,我们用了手法,我们得出了手法与机械式的手动的手动的手动的手法。我们得出了手动方法。我们得出了成功。我们得出了手法。我们得出了手法的手法。我们得出的方法。我们得出了手法。我们得出了手法。我们得出了手法。我们得出了机械动动动动动动动的手法的方法。我们动方法。我们动的手法。我们