Individualization of Assistance Strategy for Hip Extension Assistance based on Emotion-in-the-Loop

摘要

The human-in-the-loop optimization strategy has successfully improved the performance of the exoskeleton, but only considering the effect of physiological parameters, such as individual metabolic cost and joint torque differences, are considered. From a psychological perspective, emotion is also a significant factor affecting human gait character, especially during walking, where there are differences in the biological hip torque under different emotions. Inspired by this, we developed an individualization assistance strategy for hip extension based on Emotion-in-the-Loop (EIL) to improve human-exosuit interaction using emotional feedback. First, we classified four typical emotions based on the Support Vector Machine (SVM), the average accuracy of which reached 92.8%. After that, measuring the biological hip moments under different emotions through a motion capture experiment and the individualization of assistance strategy for hip extension assistance was designed based on the result. In the metabolism experiments, the soft exosuit with the EIL method can significantly further reduce metabolic consumption by about 4.5%, 6.7%, and 3.7% under the emotion of excitement, depression, and fear, respectively, in addition to original metabolic consumption reduction of 7.6%, which demonstrated that applying different assistance forces considering emotional changes can considerably reduce metabolic consumption. In the future, this method can be additionally used on different wearable robots to improve the performance of human-robot interaction.