Control of active lower limb prosthesis using human-in-the-loop scheme. Issue 1 (31st December 2022)

• Record Type: Journal Article
• Authors: Hernández, Iván; Yu, Wen
• Editors: Jin, Zhongmin
• Is Part Of: Cogent engineering. Volume 9:Issue 1(2022)
• Publication Date: 2022-12-31
• Subjects: Human-model -- human-in-the-loop -- shared-control -- prosthesis; Engineering -- Periodicals; Technology -- Periodicals; Engineering; Technology; Periodicals; 620
• DOI: 10.1080/23311916.2022.2067026
• Languages: English
• ISSNs: 2331-1916

Abstract

Abstract: In many cases robots are directly in touch with humans, this interaction is necessary to design control systems that take into account a human-machine relation. Particularly important is the case when humans share the control with a robot. So, in order to validate control schemes, it is necessary to test them in an environment where the human-machine interaction exists, what could be even dangerous for humans. We present a model of human useful to test controllers, and propose a scheme for human-in-the-loop under shared control. We test the model and the scheme in a lower limb prosthesis that implies naturally a human-machine interaction. Apart from this research, we propose an efficient and low-cost controller for the prosthesis, based on a sensory exoextension and a neuro-decoder consisting of a multilayer perceptrons. The results show the effectiveness of human model to emulate the human interaction.