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Compliant gait assistance triggered by user intention

Autor
Rajasekaran, V.; Aranda, J.; Casals, A.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Any de l'edició
2015
Data de presentació
2015-08-26
Llibre d'actes
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)
Pàgina inicial
3885
Pàgina final
3888
Editor
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/EMBC.2015.7319242 Obrir en finestra nova
Projecte finançador
Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders
Repositori
http://hdl.handle.net/2117/83941 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7319242 Obrir en finestra nova
Resum
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 the...
Citació
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.
Paraules clau
Exoskeleton, Wearable Robot, Gait Initiation, Adaptive Control, Gait Assistance, Rehabilitation
Grup de recerca
CREB - Centre de Recerca en Enginyeria Biomedica
GRINS - Robòtica Intel·ligent i Sistemes

Participants