WAKE-up: A wearable ankle knee exoskeleton

Rossi, Stefano Marco Maria De; Patanè, Fabrizio; Sette, Fausto Del; Cappa, Paolo

doi:10.1109/biorob.2014.6913827

Cited by 17 publications

(7 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In an on-going research phase, we are developing an untethered wearable modular lower limb exoskeleton for children with motor disorders for daily domotic rehabilitation [ 31 ]. We plan to implement a simplified HMM classifier that does not require a preliminary trial for intra-subject training.…”

Section: Introductionmentioning

confidence: 99%

Validation of Inter-Subject Training for Hidden Markov Models Applied to Gait Phase Detection in Children with Cerebral Palsy

Taborri

Scalona

Palermo

et al. 2015

Sensors

Self Cite

View full text Add to dashboard Cite

Gait-phase recognition is a necessary functionality to drive robotic rehabilitation devices for lower limbs. Hidden Markov Models (HMMs) represent a viable solution, but they need subject-specific training, making data processing very time-consuming. Here, we validated an inter-subject procedure to avoid the intra-subject one in two, four and six gait-phase models in pediatric subjects. The inter-subject procedure consists in the identification of a standardized parameter set to adapt the model to measurements. We tested the inter-subject procedure both on scalar and distributed classifiers. Ten healthy children and ten hemiplegic children, each equipped with two Inertial Measurement Units placed on shank and foot, were recruited. The sagittal component of angular velocity was recorded by gyroscopes while subjects performed four walking trials on a treadmill. The goodness of classifiers was evaluated with the Receiver Operating Characteristic. The results provided a goodness from good to optimum for all examined classifiers (0 < G < 0.6), with the best performance for the distributed classifier in two-phase recognition (G = 0.02). Differences were found among gait partitioning models, while no differences were found between training procedures with the exception of the shank classifier. Our results raise the possibility of avoiding subject-specific training in HMM for gait-phase recognition and its implementation to control exoskeletons for the pediatric population.

show abstract

Section: Introductionmentioning

confidence: 99%

Validation of Inter-Subject Training for Hidden Markov Models Applied to Gait Phase Detection in Children with Cerebral Palsy

Taborri

Scalona

Palermo

et al. 2015

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…Figure 7a shows this exoskeleton. The WAKE-up (wearable ankle knee exoskeleton) also utilized an SEA [34]. The actuators are chosen to prevent direct contact between the user and the actuator.…”

Section: Multiple Joints Exoskeletonmentioning

confidence: 99%

Overview: Types of Lower Limb Exoskeletons

et al. 2019

View full text Add to dashboard Cite

Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper.

show abstract

“…Prof. Cappa led the design and evaluation of high-tech devices that would allow reproducible and measurable rehabilitation treatments. Among several important devices, particularly impressive are the robotic solutions for ankle rehabilitation [ 33 , 34 ] and posture treatment [ 35 , 36 ].…”

Section: Prof Cappa How We Remember Him: a Leader In Sensors Researmentioning

confidence: 99%

“…The collaboration with Dr. Hermano Igo Krebs at Massachusetts Institute of Technology resulted in the design of the pediatric version of the ANKLEbot, a wearable robot for ankle rehabilitation [ 33 ]. Toward further developing the wearable aspect of robotic rehabilitation solutions, he coordinated an ambitious 3-year project, aimed at designing a modular pediatric knee and ankle exoskeleton, known as “Wake-UP!” [ 34 , 39 ].…”

Section: Prof Cappa How We Remember Him: a Leader In Sensors Researmentioning

confidence: 99%

In Memoriam: Paolo Cappa

Palermo

Rossi

Patanè

et al. 2017

Sensors

Self Cite

View full text Add to dashboard Cite

Prof. Paolo Cappa passed away on 26 August 2016, at the age of 59, after a long and courageous fight against cancer. Paolo Cappa was a Professor in Mechanical and Thermal Measurements and Experimental Biomechanics in the Department of Mechanical and Aerospace Engineering of Sapienza University of Rome, where he had also served as the Head of the Department, and a Research Professor in the Department of Mechanical and Aerospace Engineering of New York University Tandon School of Engineering. During his intense, yet short, career, he made several significant scientific contributions within the discipline of Mechanical and Thermal Measurements, pioneering fundamental applications to Biomechanics. He co-founded the Motion Analysis and Robotics Laboratory (MARLab) within the Neurorehabilitation Division of IRCCS Pediatric Hospital “Bambino Gesu”, in Rome, to fuel transitional research from the laboratory to clinical practice. Through collaboration with neurologists and physiatrists at MARLab, Prof. Cappa led the development of a powerful array of novel mechanical solutions to wearable robotics for pediatric patients, addressing dramatic needs for children’s health and contributing to the training of an entire generation of Mechanical Engineering students.

show abstract

WAKE-up: A wearable ankle knee exoskeleton

Cited by 17 publications

References 9 publications

Validation of Inter-Subject Training for Hidden Markov Models Applied to Gait Phase Detection in Children with Cerebral Palsy

Validation of Inter-Subject Training for Hidden Markov Models Applied to Gait Phase Detection in Children with Cerebral Palsy

Overview: Types of Lower Limb Exoskeletons

In Memoriam: Paolo Cappa

Contact Info

Product

Resources

About