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dc.contributor.authorGarcía-Vallejo, Daniel
dc.contributor.authorFont Llagunes, Josep Maria
dc.contributor.authorSchiehlen, Werner
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.date.accessioned2016-01-21T11:40:09Z
dc.date.available2017-05-31T00:30:11Z
dc.date.issued2016-04
dc.identifier.citationGarcía-Vallejo, D., Font-Llagunes, J.M., Schiehlen, W. Dynamical analysis and design of active orthoses for spinal cord injured subjects by aesthetic and energetic optimization. "Nonlinear dynamics", April 2016, vol. 84, no. 2, p.559-581.
dc.identifier.issn0924-090X
dc.identifier.urihttp://hdl.handle.net/2117/81801
dc.description.abstractThe dynamic analysis and simulation of human gait using multibody dynamics techniques has been a major area of research in the last decades. Nevertheless, not much attention has been paid to the analysis and simulation of robotic-assisted gait. Simulation is a very powerful tool both for assisting the design stage of active rehabilitation robots and predicting the subject–orthoses cooperation and the resulting aesthetic gait. This paper presents a parameter optimization approach that allows simulating gait motion patterns in the particular case of a subject with incomplete spinal cord injury (SCI) wearing active knee–ankle–foot orthoses at both legs. The subject is modelled as a planar multibody system actuated through the main lower limb muscle groups. A muscle force-sharing problem is solved to obtain optimal muscle activation patterns. Furthermore, denervation of muscle groups caused by the SCI is parameterized to account for different injury severities. The active orthoses are modelled as external devices attached to the legs, and their dynamic and performance parameters are taken from a real prototype. Numerical results using energetic and aesthetic objective functions, and considering different SCI severities are obtained. Detailed discussions are given related to the different motion and actuation patterns both from muscles and orthoses. The proposed methodology opens new perspectives towards the prediction of human-assisted gait, which can be very helpful for the design of new rehabilitation robots.
dc.language.isoeng
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica::Robòtica mèdica
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica::Mecànica
dc.subject.lcshRobots--Dynamics
dc.subject.lcshRehabilitation
dc.subject.lcshMuscles
dc.subject.otherHuman gait
dc.subject.otherActive orthosis
dc.subject.otherParameter optimization
dc.subject.otherSpinal cord injury
dc.subject.otherEnergetics
dc.subject.otherAesthetics
dc.titleDynamical analysis and design of active orthoses for spinal cord injured subjects by aesthetic and energetic optimization
dc.typeArticle
dc.subject.lemacRobots--Dinàmica
dc.subject.lemacRehabilitació
dc.subject.lemacMúsculs
dc.contributor.groupUniversitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
dc.identifier.doi10.1007/s11071-015-2507-1
dc.rights.accessOpen Access
local.identifier.drac17373901
dc.description.versionPostprint (author's final draft)
local.citation.authorGarcía-Vallejo, D.; Font-Llagunes, J.M.; Schiehlen, W.
local.citation.publicationNameNonlinear dynamics
local.citation.volume84
local.citation.number2
local.citation.startingPage559
local.citation.endingPage581


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