Paradigm Shift, Technical Challenges, And Future Path of Exoskeleton Human-Computer Interaction Control Model

Abstract

With the gradual development of exoskeleton robot hardware, the research focus should be transferred to the control model. The current field of exoskeleton control systems is undergoing a paradigm shift from traditional human-computer interaction to human-computer symbiosis. This research focuses on the control model and control strategy of an exoskeleton robot. Through a systematic review of the literature, this paper divides the current control model into four clear control paradigms: brain-less control, perceptual control, predictive control, and symbiotic control, and prospects the future human-computer interaction mode of exoskeleton. At the same time, the core characteristics, typical cases, and limitations of each paradigm are analyzed, and the four trends of human-computer symbiosis are summarized. The future development path of exoskeleton based on artificial intelligence, brain-computer interface, and new sensing technology is outlined. Brainless control can not adapt to individual differences and real-time changes, ignoring the real-time state of people. Perceptual control cannot predict or look forward to motor intention. Predictive control is complex in calculation, highly dependent on the model and data, and mostly in the laboratory stage. In the future, a close coupling and bidirectional communication man-machine relationship will be formed to form a man-machine intelligent unity.