User intention driven adaptive gait assistance using a wearable exoskeleton

A user intention based rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy, which involves monitoring the human-orthosis interaction torques, determines the gait initiation instant and modifies orthosis operation for gait assistance, when needed. O...

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Autores: Rajasekaran, Vijaykumar, Aranda López, Juan|||0000-0001-9283-9548, Casals Gelpí, Alicia|||0000-0003-4706-5533
Tipo de recurso: artículo
Fecha de publicación:2016
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/83935
Acceso en línea:https://hdl.handle.net/2117/83935
https://dx.doi.org/10.1007/978-3-319-27149-1_23
Access Level:acceso abierto
Palabra clave:Robotic exoskeletons
Robotics in medicine
Adaptive control
Exoskeleton
Gait initiation
Gait assistance
Wearable robot
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/83935
network_acronym_str ES
network_name_str España
repository_id_str
spelling User intention driven adaptive gait assistance using a wearable exoskeletonRajasekaran, VijaykumarAranda López, Juan|||0000-0001-9283-9548Casals Gelpí, Alicia|||0000-0003-4706-5533Robotic exoskeletonsRobotics in medicineAdaptive controlExoskeletonGait initiationGait assistanceWearable robotRobòtica en medicinaÀrees temàtiques de la UPC::Informàtica::RobòticaA user intention based rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy, which involves monitoring the human-orthosis interaction torques, determines the gait initiation instant and modifies orthosis operation for gait assistance, when needed. Orthosis operation is classified as assistive or resistive in function of its evolution with respect to a normal gait pattern. The control algorithm relies on the adaptation of the joints’ stiffness in function of their interaction torques and their deviation from the desired trajectories. An average of recorded gaits obtained from healthy subjects is used as reference input. The objective of this work is to develop a control strategy that can trigger the gait initiation from the user’s intention and maintain the dynamic stability, using an efficient real-time stiffness adaptation for multiple joints, simultaneously maintaining their synchronization. The algorithm has been tested with five healthy subjects showing its efficient behavior in initiating the gait and maintaining the equilibrium while walking in presence of external forces. The work is performed as a preliminary study to assist patients suffering from incomplete Spinal cord injury and Stroke.Peer ReviewedSpringer20162016-01-0120162016-03-08journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/83935https://dx.doi.org/10.1007/978-3-319-27149-1_23reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/839352026-05-27T15:37:01Z
dc.title.none.fl_str_mv User intention driven adaptive gait assistance using a wearable exoskeleton
title User intention driven adaptive gait assistance using a wearable exoskeleton
spellingShingle User intention driven adaptive gait assistance using a wearable exoskeleton
Rajasekaran, Vijaykumar
Robotic exoskeletons
Robotics in medicine
Adaptive control
Exoskeleton
Gait initiation
Gait assistance
Wearable robot
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short User intention driven adaptive gait assistance using a wearable exoskeleton
title_full User intention driven adaptive gait assistance using a wearable exoskeleton
title_fullStr User intention driven adaptive gait assistance using a wearable exoskeleton
title_full_unstemmed User intention driven adaptive gait assistance using a wearable exoskeleton
title_sort User intention driven adaptive gait assistance using a wearable exoskeleton
dc.creator.none.fl_str_mv Rajasekaran, Vijaykumar
Aranda López, Juan|||0000-0001-9283-9548
Casals Gelpí, Alicia|||0000-0003-4706-5533
author Rajasekaran, Vijaykumar
author_facet Rajasekaran, Vijaykumar
Aranda López, Juan|||0000-0001-9283-9548
Casals Gelpí, Alicia|||0000-0003-4706-5533
author_role author
author2 Aranda López, Juan|||0000-0001-9283-9548
Casals Gelpí, Alicia|||0000-0003-4706-5533
author2_role author
author
dc.subject.none.fl_str_mv Robotic exoskeletons
Robotics in medicine
Adaptive control
Exoskeleton
Gait initiation
Gait assistance
Wearable robot
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robotic exoskeletons
Robotics in medicine
Adaptive control
Exoskeleton
Gait initiation
Gait assistance
Wearable robot
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Robòtica
description A user intention based rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy, which involves monitoring the human-orthosis interaction torques, determines the gait initiation instant and modifies orthosis operation for gait assistance, when needed. Orthosis operation is classified as assistive or resistive in function of its evolution with respect to a normal gait pattern. The control algorithm relies on the adaptation of the joints’ stiffness in function of their interaction torques and their deviation from the desired trajectories. An average of recorded gaits obtained from healthy subjects is used as reference input. The objective of this work is to develop a control strategy that can trigger the gait initiation from the user’s intention and maintain the dynamic stability, using an efficient real-time stiffness adaptation for multiple joints, simultaneously maintaining their synchronization. The algorithm has been tested with five healthy subjects showing its efficient behavior in initiating the gait and maintaining the equilibrium while walking in presence of external forces. The work is performed as a preliminary study to assist patients suffering from incomplete Spinal cord injury and Stroke.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-01-01
2016
2016-03-08
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/83935
https://dx.doi.org/10.1007/978-3-319-27149-1_23
url https://hdl.handle.net/2117/83935
https://dx.doi.org/10.1007/978-3-319-27149-1_23
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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