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dc.contributor.authorRajasekaran, Vijaykumar
dc.contributor.authorAranda López, Juan
dc.contributor.authorCasals Gelpí, Alicia
dc.contributor.authorPons, Jose Luis
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Bioenginyeria de Catalunya
dc.date.accessioned2015-09-16T09:48:30Z
dc.date.available2017-11-01T01:30:30Z
dc.date.created2015-11
dc.date.issued2015-11
dc.identifier.citationRajasekaran, V., Aranda, J., Casals, A., Pons, J.L. An adaptive control strategy for postural stability using a wearable robot. "Robotics and autonomous systems", Novembre 2015, p. 16-23.
dc.identifier.issn0921-8890
dc.identifier.urihttp://hdl.handle.net/2117/76842
dc.description.abstractWearable robots are expected to expand the use of robotics in rehabilitation since they can widen the assistance application context. An important aspect of a rehabilitation therapy, in terms of lower extremity assistance, is balance control. In this article, we propose and evaluate an adaptive control strategy for robotic rehabilitation therapies to guarantee static stability using a wearable robot. Postural balance control can be implemented either acting on the hip, on the ankle joint or on both, depending on the kind of perturbation acting on the subject: internal or external. Internal perturbations can be produced by any voluntary movement of the body, such as bending the trunk. External perturbations, in the form of an impact force, are applied by the exoskeleton without any prior notice to observe the proactive response of the subject. We have used a 6 degree of freedom planar lower limb exoskeleton, H1, to perform this analysis. The developed control strategy has been designed to provide the necessary assistance, related to balance recovery and postural stability, under the ‘‘Assist-as-needed’’ paradigm. The interaction forces between orthosis and subject are monitored, as they play a relevant role in the definition of assistive and resistive movements to be applied to the joints. The proposed method has been tested with 5 healthy subjects in presence of internal and external disturbances. The results demonstrate that knowing the stability limit of each subject, in combination with a therapeutically selected scaling factor, the proposed adaptive control helps in providing an effective assistance in therapy. This method is efficient in handling the individual and combined effect of external perturbations acting on any joint movements.
dc.format.extent8 p.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotic exoskeletons
dc.subject.lcshRobotics in medicine
dc.subject.otherExoskeleton controls
dc.subject.otherPostural stability
dc.subject.otherBalance controls
dc.subject.otherAdaptive control
dc.titleAn adaptive control strategy for postural stability using a wearable robot
dc.typeArticle
dc.subject.lemacRobòtica en medicina
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.identifier.doi10.1016/j.robot.2014.11.014
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S0921889014002887
dc.rights.accessOpen Access
local.identifier.drac15592329
dc.description.versionPostprint (author’s final draft)
local.citation.authorRajasekaran, V.; Aranda, J.; Casals, A.; Pons, J.L.
local.citation.publicationNameRobotics and autonomous systems
local.citation.volume73
local.citation.startingPage16
local.citation.endingPage23


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