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

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10.1109/ICORR.2017.8009280
 
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hdl:2117/107545

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Rajasekaran, Vijaykumar
Vinagre Ruiz, ManuelMés informacióMés informacióMés informació
Aranda López, JuanMés informacióMés informacióMés informació
Document typeConference report
Defense date2017
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
ProjectESTRATEGIAS DISTRIBUIDAS DE CONTROL Y COOPERACION PERSONA-ROBOT EN ENTORNOS ASISTENCIALES (MINECO-DPI2015-70415-C2-1-R)
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.
CitationRajasekaran, 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. 
URIhttp://hdl.handle.net/2117/107545
DOI10.1109/ICORR.2017.8009280
ISBN978-1-5386-2296-4
Publisher versionhttp://ieeexplore.ieee.org/abstract/document/8009280/
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  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.413]
  • GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes - Ponències/Comunicacions de congressos [72]
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