Human-in-the-Loop Optimization of Active Back-Support Exoskeleton Assistance Via Lumbosacral Joint Torque Estimation
Andreas Sochopoulos,Tommaso Poliero,Darwin Caldwell,Jesús Ortiz,Christian Di Natali,Andreas Sochopoulos,Tommaso Poliero,Darwin Caldwell,Jesús Ortiz,Christian Di Natali
The assistive profile of an active back support exoskeleton is strongly dependent on the manual tuning of controller gains based on previous experience and trial-and-error. Human-in-the-loop (HIL) optimization allows for automatic tuning of assistive profiles to different subjects. Most HIL methods make use of intrusive sensors that could affect out-of-the-lab exoskeleton adoption. Therefore, we p...
