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dc.contributor.authorRajasekaran, Vijaykumar
dc.contributor.authorVinagre Ruiz, Manuel
dc.contributor.authorAranda López, Juan
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2017-09-12T09:22:33Z
dc.date.available2017-09-12T09:22:33Z
dc.date.issued2017
dc.identifier.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.
dc.identifier.isbn978-1-5386-2296-4
dc.identifier.urihttp://hdl.handle.net/2117/107545
dc.description.abstractSit-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.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshMedical rehabilitation
dc.subject.lcshRobotics in medicine
dc.subject.lcshRobotic exoskeletons
dc.subject.otherExoskeleton
dc.subject.otherWearable robots
dc.subject.otherSit-to-stand transition
dc.subject.otherStiffness-damping control
dc.titleEvent-based control for sit-to-stand transition using a wearable exoskeleton
dc.typeConference report
dc.subject.lemacRehabilitació
dc.subject.lemacRobòtica en medicina
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.identifier.doi10.1109/ICORR.2017.8009280
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://ieeexplore.ieee.org/abstract/document/8009280/
dc.rights.accessOpen Access
local.identifier.drac21329280
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO//DPI2015-70415-C2-1-R/ES/ESTRATEGIAS DISTRIBUIDAS DE CONTROL Y COOPERACION PERSONA-ROBOT EN ENTORNOS ASISTENCIALES/
local.citation.authorRajasekaran, V.; Vinagre, M.; Aranda, J.
local.citation.contributorIEEE International Conference on Rehabilitation Robotics
local.citation.pubplaceLondon
local.citation.publicationName2017 International Conference on Rehabilitation Robotics (ICORR)
local.citation.startingPage400
local.citation.endingPage405


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