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Adaptive walking assistance based on human-orthosis interaction

Autor
Rajasekaran, V.; Aranda, J.; Casals, A.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Any de l'edició
2015
Data de presentació
2015-10-01
Llibre d'actes
IROS Hamburg 2015: IEEE/RSJ International Conference on Intelligent Robots and Systems: September 28-October 02, 2015, Hamburg, Germany
Pàgina inicial
6190
Pàgina final
6195
Editor
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/IROS.2015.7354260 Obrir en finestra nova
Projecte finançador
Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders
Repositori
http://hdl.handle.net/2117/83939 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7354260 Obrir en finestra nova
Resum
An assistive rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy monitors the human-orthosis interaction torques and modifies the orthosis operation mode depending on its evolution with respect to a normal gait pattern. The control algorithm relies on the adaptation of the joints stiffness in function of these interaction torques and to the deviation from the desired trajectory. A walking pattern, an average of recorded gaits, is used as refere...
Citació
Rajasekaran, V., Aranda, J., Casals, A. Adaptive walking assistance based on human-orthosis interaction. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS Hamburg 2015: IEEE/RSJ International Conference on Intelligent Robots and Systems: September 28-October 02, 2015, Hamburg, Germany". Hamburg: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 6190-6195.
Paraules clau
Exoskeleton, Gait Assistance, Human-orthosis Interaction, Impedance Control, Wearable Robot
Grup de recerca
CREB - Centre de Recerca en Enginyeria Biomedica
GRINS - Robòtica Intel·ligent i Sistemes

Participants

Arxius