Journal
MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING
Volume 49, Issue 10, Pages 1173-1185Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s11517-011-0816-1
Keywords
Adaptive oscillator; Assistance; EMG; Exoskeleton; Metabolic cost; Walking
Categories
Funding
- EU [FP7-ICT-2007-3-231451]
Ask authors/readers for more resources
In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assisting robot's own encoders. The approach is based on adaptive oscillators, i.e., mathematical tools that are capable of learning the high level features (frequency, envelope, etc.) of a periodic input signal. Here we present two experiments that we recently conducted to validate our approach: a simple sinusoidal movement of the elbow, that we designed as a proof-of-concept, and a walking experiment. In both cases, we collected evidence illustrating that our approach indeed assisted healthy subjects during movement execution. Owing to the intrinsic periodicity of daily life movements involving the lower-limbs, we postulate that our approach holds promise for the design of innovative rehabilitation and assistance protocols for the lower-limb, requiring little to no user-specific calibration.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available