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Predicting walking response to ankle exoskeletons using data-driven models

View ORCID ProfileMichael C. Rosenberg, Bora S. Banjanin, View ORCID ProfileSamuel A. Burden, View ORCID ProfileKatherine M. Steele
doi: https://doi.org/10.1101/2020.06.18.105163
Michael C. Rosenberg
1Department of Mechanical Engineering, University of Washington, Seattle, WA, USA
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  • For correspondence: mcrosenb@uw.edu
Bora S. Banjanin
2Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA
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Samuel A. Burden
2Department of Electrical and Computer Engineering, University of Washington, Seattle, WA, USA
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Katherine M. Steele
1Department of Mechanical Engineering, University of Washington, Seattle, WA, USA
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II Abstract

Despite recent innovations in exoskeleton design and control, predicting subject-specific impacts of exoskeletons on gait remains challenging. We evaluated the ability of three classes of subject-specific phase-varying models to predict kinematic and myoelectric responses to ankle exoskeletons during walking, without requiring prior knowledge of specific user characteristics. Each model – phase-varying (PV), linear phase-varying (LPV), and nonlinear phase-varying (NPV) – leveraged Floquet Theory to predict deviations from a nominal gait cycle due to exoskeleton torque, though the models differed in complexity and expected prediction accuracy. For twelve unimpaired adults walking with bilateral passive ankle exoskeletons, we predicted kinematics and muscle activity in response to three exoskeleton torque conditions. The LPV model’s predictions were more accurate than the PV model when predicting less than 12.5% of a stride in the future and explained 49–70% of the variance in hip, knee, and ankle kinematic responses to torque. The LPV model also predicted kinematic responses with similar accuracy to the more-complex NPV model. Myoelectric responses were challenging to predict with all models, explaining at most 10% of the variance in responses. This work highlights the potential of data-driven phase-varying models to predict complex subject-specific responses to ankle exoskeletons and inform device design and control.

Competing Interest Statement

The authors have declared no competing interest.

Footnotes

  • The revised manuscript includes predictions of three exoskeleton stiffness conditions: two within and one beyond the training dataset.

  • https://simtk.org/projects/ankleexopred

Copyright 
The copyright holder for this preprint is the author/funder, who has granted bioRxiv a license to display the preprint in perpetuity. All rights reserved. No reuse allowed without permission.
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Posted September 21, 2020.
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Predicting walking response to ankle exoskeletons using data-driven models
Michael C. Rosenberg, Bora S. Banjanin, Samuel A. Burden, Katherine M. Steele
bioRxiv 2020.06.18.105163; doi: https://doi.org/10.1101/2020.06.18.105163
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Predicting walking response to ankle exoskeletons using data-driven models
Michael C. Rosenberg, Bora S. Banjanin, Samuel A. Burden, Katherine M. Steele
bioRxiv 2020.06.18.105163; doi: https://doi.org/10.1101/2020.06.18.105163

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