A robotic exoskeleton for overground gait rehabilitation

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

Casals

2015

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.

Section: Methodsmentioning

confidence: 99%

Compliant gait assistance triggered by user intention

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

Casals

2015

Section: Exoskeleton H1mentioning

confidence: 99%

Event-based control for sit-to-stand transition using a wearable exoskeleton

Vinagre

2017 International Conference on Rehabilitation Robotics (ICORR)

2017

Abstract-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.

Section: Exoskeletonmentioning

confidence: 99%

User Intention Driven Adaptive Gait Assistance Using a Wearable Exoskeleton

Advances in Intelligent Systems and Computing

Casals

2015

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 in function of their interaction torques and their deviation from the desired trajectories. An average of recorded gaits obtained from healthy subjects is used as reference input. The objective of this work is to develop a control strategy that can trigger the gait initiation from the user's intention and maintain the dynamic stability, using an efficient real-time stiffness adaptation for multiple joints, simultaneously maintaining their synchronization. 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.