Event-based control for sit-to-stand transition using a wearable exoskeleton
Author
Rajasekaran, V.; Vinagre, M.; Aranda, J.
Type of activity
Presentation of work at congresses
Name of edition
15th IEEE International Conference on Rehabilitation Robotics
Date of publication
2017
Presentation's date
2017-07-18
Book of congress proceedings
ICORR 2017: 15th IEEE International Conference on Rehabilitation Robotics: London, England: July 17-20, 2017: proceedings book 2017 International Conference on Rehabilitation Robotics (ICORR)
First page
400
Last page
405
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Sit-to-stand transition is an essential step in a lower limb rehabilitation therapy, mainly for assisting the patient to transit from wheel chair to the next level of therapy. A mixed stiffness-damping control adaptation is proposed for this task which will help in reaching the final position with a constant velocity. A combination of control model is proposed to ensure the initiation and the final stage of the transition, such as to ensure stability and to maintain the equilibrium. The combined...
Sit-to-stand transition is an essential step in a lower limb rehabilitation therapy, mainly for assisting the patient to transit from wheel chair to the next level of therapy. A mixed stiffness-damping control adaptation is proposed for this task which will help in reaching the final position with a constant velocity. A combination of control model is proposed to ensure the initiation and the final stage of the transition, such as to ensure stability and to maintain the equilibrium. The combined control model helps in reaching the goal position with equal participation from the user. For patient studies, such as with paraplegic patients, a combinational control model with muscle stimulation can be included to provide a complete assistance. The role of muscle stimulation and joint movement assistance is also considered in this control model. Further, final stage of this transition must ensure keeping or helping the user to maintain the upright position.
Citation
Rajasekaran, V., Vinagre, M., Aranda, J. Event-based control for sit-to-stand transition using a wearable exoskeleton. A: IEEE International Conference on Rehabilitation Robotics. "2017 International Conference on Rehabilitation Robotics (ICORR)". London: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 400-405.
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