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User intention driven adaptive gait assistance using a wearable exoskeleton

Author
Rajasekaran, V.; Aranda, J.; Casals, A.
Type of activity
Journal article
Journal
Advances in intelligent systems and computing
Date of publication
2016
Volume
418
First page
289
Last page
301
DOI
https://doi.org/10.1007/978-3-319-27149-1_23 Open in new window
Project funding
Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders
Repository
http://hdl.handle.net/2117/83935 Open in new window
URL
http://link.springer.com/chapter/10.1007%2F978-3-319-27149-1_23 Open in new window
Abstract
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 ...
Citation
Rajasekaran, V., Aranda, J., Casals, A. User intention driven adaptive gait assistance using a wearable exoskeleton. "Advances in Intelligent Systems and Computing", 2016, vol. 418, p. 289-301.
Keywords
Adaptive control, Exoskeleton, Gait assistance, Gait initiation, Wearable robot
Group of research
CREB - Biomedical Engineering Research Centre
GRINS - Intelligent Robots and Systems

Participants