Wearable Robotics: Challenges and Trends by Maria Chiara Carrozza & Silvestro Micera & José L. Pons

Author:Maria Chiara Carrozza & Silvestro Micera & José L. Pons
Language: eng
Format: epub
ISBN: 9783030018870
Publisher: Springer International Publishing

1 Introduction

Observing animal and human locomotion reveals the large gap that is still existing between biological motor skills and their robotic counterparts. Indeed, the most advanced robots are still poor competitors as compared to biological agents regarding versatility, agility, and energy efficiency. To cite one recent example among the many, [1] reported that a nonathletic human could complete all the tasks of the DARPA Robotics Challenge about 20 times faster than the winning robot; although this contest likely gathered the best humanoid robots to date. Consequently, bio-inspiration has became a fantastic incentive for designing highly skilled robots, particularly regarding agile locomotion [2].

In this document, a survey of our recent contributions to bio-inspired control of bipedal walking is provided. These contributions all relied on a common ground, namely the modeling of the human neuro-musculo-skeletal apparatus. This approach postulates that emulating human-like neuromuscular impedance in artificial leg control is crucial for copying or restoring proper interactions with the environment [3], or reaction to perturbations [4]. First, an overview of this neuromuscular framework is provided. Next, the most significant results obtained in generating humanoid walking or human walking assistance are reported.

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