ASMOA
(DGA Rapid; 2020-2021)
“Asmoa” means “Intention” in the Basque dialect. This project is about intention prediction for exoskeleton control. The challenge is to detect the intention of movement of a user of exoskeletons for load handling, to optimize the exoskeleton control following the user’s intended movement, and to evaluate with an experimental campaign the effect of the intelligent controller on the user’s movement and performance. We develop our prediction and control method for an upper-body active exoskeleton. The project is a collaboration with an industrial company, Safran, and a SME, Kompai Robotics.
Our team
Serena Ivaldi, Francois Charpillet, Pauline Maurice, Raphael Lartot, Jean Michenaud
Publications
- Oliveira Souza, A.; Michenaud, J.; Lartot, R.; Grenier, J.; Charpillet, F.; Maurice, P.; Ivaldi, S. (2022) Simulating Upper Body Exoskeleton on a Digital Human Model. Journées Nationales de la Robotique Humanoïde, July 2022, Angers, France.
- Lartot, R.; Michenaud, J.; Oliveira Souza, A.; Maurice, P.; Ivaldi, S.; Charpillet, F. (2022) Torque prediction for active exoskeleton control using ProMPs. Journées Nationales de la Robotique Humanoïde, July 2022, Angers, France.
- Oliveira Souza, A.; Grenier, J.; Charpillet, F.; Maurice, P.; Ivaldi, S. (2023) Towards data-driven predictive control of active upper-body exoskeletons for load carrying. IEEE ARSO 2023.