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| Hauptverfasser: | , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| Online-Zugang: | https://arxiv.org/abs/2511.10117 |
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| _version_ | 1866909900515311616 |
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| author | Kavianirad, Hossein Endo, Satoshi Astarita, Davide Amato, Lorenzo Trigili, Emilio Hirche, Sandra |
| author_facet | Kavianirad, Hossein Endo, Satoshi Astarita, Davide Amato, Lorenzo Trigili, Emilio Hirche, Sandra |
| contents | Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy and heterogeneous assistive device constraints. This paper introduces a novel cooperative control architecture based on dynamic allocation to address actuator redundancy in a hybrid FES-exoskeleton system. The proposed approach employs a modular control allocator that redistributes required control torques between FES and exoskeleton actuators in real time, accounting for device-specific limitations and user preferences (e.g., prioritizing one assistive device over another). Within this framework, the high-level controller determines the total assistance level, while the allocator dynamically distributes control effort based on these assistive device-specific considerations. Simulation results and experimental validation demonstrate the method's effectiveness in resolving actuator redundancy in the FES-exoskeleton system while reflecting actuator constraints, indicating its potential for deployment in clinical studies to assess patient acceptance and clinical efficacy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_10117 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Cooperative Control of Hybrid FES-Exoskeleton: Dynamic Allocation Kavianirad, Hossein Endo, Satoshi Astarita, Davide Amato, Lorenzo Trigili, Emilio Hirche, Sandra Systems and Control Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy and heterogeneous assistive device constraints. This paper introduces a novel cooperative control architecture based on dynamic allocation to address actuator redundancy in a hybrid FES-exoskeleton system. The proposed approach employs a modular control allocator that redistributes required control torques between FES and exoskeleton actuators in real time, accounting for device-specific limitations and user preferences (e.g., prioritizing one assistive device over another). Within this framework, the high-level controller determines the total assistance level, while the allocator dynamically distributes control effort based on these assistive device-specific considerations. Simulation results and experimental validation demonstrate the method's effectiveness in resolving actuator redundancy in the FES-exoskeleton system while reflecting actuator constraints, indicating its potential for deployment in clinical studies to assess patient acceptance and clinical efficacy. |
| title | Cooperative Control of Hybrid FES-Exoskeleton: Dynamic Allocation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.10117 |