dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.contributor.author
Rajasekaran, Vijaykumar
dc.contributor.author
Aranda López, Juan
dc.contributor.author
Casals Gelpí, Alicia
dc.identifier
Rajasekaran, V., Aranda, J., Casals, A. Compliant gait assistance triggered by user intention. A: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. "2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)". Milan: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 3885-3888.
dc.identifier
9781424492695
dc.identifier
https://hdl.handle.net/2117/83941
dc.identifier
10.1109/EMBC.2015.7319242
dc.description.abstract
An automatic gait initialization strategy based on user intention sensing in the context of rehabilitation with a lower-limb wearable robot is proposed and evaluated. The proposed strategy involves monitoring the human-orthosis interaction torques and initial position deviation to determine the gait initiation instant and to modify orthosis operation for gait assistance, when needed. During gait, the compliant control algorithm relies on the adaptation of the joints' stiffness in function of their interaction torques and their deviation from the desired trajectories, while maintaining the dynamic stability. As a reference input, the average of a set of recorded gaits obtained from healthy subjects is used. 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.
dc.description.abstract
Peer Reviewed
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
dc.relation
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7319242
dc.relation
info:eu-repo/grantAgreement/MICINN/PC2010-2014/Consolider/Ingenio
dc.subject
Àrees temàtiques de la UPC::Informàtica::Robòtica
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Robotic exoskeletons
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Robotics in medicine
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Medical rehabilitation
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Wearable robot
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Gait initiation
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Adaptive control
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Gait assistance
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Rehabilitation
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Robòtica en medicina
dc.title
Compliant gait assistance triggered by user intention
dc.type
Conference report
