Patients with low back pain are suggested to follow a protective coping strategy. Therefore, rehabilitation of these patients requires estimating their motor control strategies (the control intent). In this letter, we present an approach that infers the control intent by solving an inverse Model Predictive Control (iMPC) problem. The standard Model Predictive Control (MPC) structure includes constraints, therefore, it allows us to model the physiological constraints of motor control. We devised an iMPC algorithm to solve iMPC problems with experimentally collected output trajectories. We used experimental data of one healthy subject during a seated balance test that used a physical human-robot interaction. Results show that the estimated MPC weights reflected the task instructions given to the subject and yielded an acceptable goodness of fit. The iMPC solution suggests that the subject's control intent was dominated by minimizing the squared sum of a combination of the upper-body and lower-body angles and velocities.
|Number of pages||7|
|Journal||IEEE Robotics and Automation Letters|
|Publication status||Published - 2019 Apr|
Bibliographical notePublisher Copyright:
© 2016 IEEE.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence