ICRA Conference 2020 Conference Paper
Preference-Based Learning for Exoskeleton Gait Optimization
- Maegan Tucker
- Ellen R. Novoseller
- Claudia Kann
- Yanan Sui
- Yisong Yue
- Joel W. Burdick
- Aaron D. Ames
This paper presents a personalized gait optimization framework for lower-body exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of transport, our approach directly learns from user prefer-ences, e. g. , for comfort. Building upon work in preference-based interactive learning, we present the CoSpar algorithm. CoSpar prompts the user to give pairwise preferences between trials and suggest improvements; as exoskeleton walking is a non-intuitive behavior, users can provide preferences more easily and reliably than numerical feedback. We show that CoSpar performs competitively in simulation and demonstrate a prototype implementation of CoSpar on a lower-body exoskeleton to optimize human walking trajectory features. In the experiments, CoSpar consistently found user-preferred parameters of the exoskeleton’s walking gait, which suggests that it is a promising starting point for adapting and personalizing exoskeletons (or other assistive devices) to individual users.