Task-invariant control of the M-BLUE exoskeleton

This video demonstrates a new task-invariant torque controller for the Modular Backdrivable Lower-limb Unloading Exoskeleton (M-BLUE) in a bilateral knee configuration. The controller augments the user’s energy to provide biomimetic torque assistance as the user’s activity varies. The controller was designed by optimizing a set of energy basis functions over a multi-activity able-bodied dataset. This work was conducted by Jianping Lin, Nikhil Divekar, Vamsi Peddinti, and Robert Gregg at the University of Michigan with support from the National Institute of Biomedical Imaging and Bioengineering (NIBIB).