Benefits and Potential of a Neuromuscular Controller for Exoskeleton-Assisted Walking

Abstract

Controlling wearable exoskeletons to interact with people suffering from locomotion disabilities due to lesions of the central nervous system is a complex challenge since it entails fulfillment of many concurrent objectives: versatility in different applications (assistance and rehabilitation), user-specific adaptation to residual motor functions, compliance with different gait features (e.g. personal walking patterns and especially speed changes), smoothness of human-robot interaction, natural and intuitive exoskeleton control, acceptability and usability of the worn system. A novel bio-inspired modular controller for lower limb exoskeletons was developed by the Authors, which delivers assistive joint torques by using a reflex-based neuromuscular model. This paper presents an overview of previous and ongoing findings in testing this controller with the aim to highlight its benefits and potential in complying with user needs and with different applications.