Variable admittance control with sEMG-based support for wearable wrist exoskeleton

Charles Lambelet^1*Melvin Mathis¹Marc Siegenthaler¹Jeremia Held²Daniel Graham Woolley^1*Olivier Lambercy¹Roger Gassert¹Nicole Wenderoth^1*

• ¹ETH Zürich, Zurich, Zürich, Switzerland
• ²University Hospital Zürich, Zurich, Zürich, Switzerland

Introduction: Wrist function impairment is common after stroke and heavily impacts the execution of daily tasks. Robotic therapy, and more specifically wearable exoskeletons, have the potential to boost training dose in context-relevant scenarios, promote voluntary effort through motor intent detection, and mitigate the effect of gravity. Portable exoskeletons are often non-backdrivable and it is challenging to make their control safe, reactive and stable. Admittance control is often used in this case, however, this type of control can become unstable when the supported biological joint stiffens. Variable admittance control adapts its parameters dynamically to allow free motion and stabilize the human-robot interaction.Methods: In this study, we implemented a variable admittance control scheme on a one degree of freedom wearable wrist exoskeleton. The damping parameter of the admittance scheme is adjusted in real-time to cope with instabilities and varying wrist stiffness. In addition to the admittance control scheme, sEMG- and gravity-based controllers were implemented, characterized and optimized on ten healthy participants and tested on six stroke survivors.Results: The results show that 1) the variable admittance control scheme could stabilize the interaction but at the cost of a decrease in transparency, and 2) when coupled with the variable admittance controller the sEMG-based control enhanced wrist functionality of stroke survivors in the most extreme angular positions.Discussion: Our variable admittance control scheme with sEMG- and gravity-based support was most beneficial for patients with higher levels of impairment by improving range of motion and promoting voluntary effort. Future work could combine both controllers to customize and fine tune the stability of the support to a wider range of impairment levels and types.