On-line Tuning of Control Parameter for Hip Swing Support during Walking Using Pneumatic Artificial Muscles

Abstract

In this study, we developed a system that automatically optimizes two control parameters, the contraction start time and the contraction time of the pneumatic artificial muscle, by measuring the effect of the assist while walking assist is performed. Those parameters were set based on the heel contact, and the system was created with the objective function of maximizing the thigh swing angle during walking. As a result of preliminary experiments of walking assist with this system, the control parameters converged to the optimal or next optimal parameters for the user through optimization search.