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dc.contributor.authorRajasekaran, Vijaykumar
dc.contributor.authorAranda López, Juan
dc.contributor.authorCasals Gelpi, Alicia
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2016-03-08T08:59:09Z
dc.date.available2016-03-08T08:59:09Z
dc.date.issued2015
dc.identifier.citationRajasekaran, V., Aranda, J., Casals, A. Compliant gait assistance triggered by user intention. A: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. "2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)". Milan: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 3885-3888.
dc.identifier.isbn9781424492695
dc.identifier.urihttp://hdl.handle.net/2117/83941
dc.description.abstractAn automatic gait initialization strategy based on user intention sensing in the context of rehabilitation with a lower-limb wearable robot is proposed and evaluated. The proposed strategy involves monitoring the human-orthosis interaction torques and initial position deviation to determine the gait initiation instant and to modify orthosis operation for gait assistance, when needed. During gait, the compliant control algorithm relies on the adaptation of the joints' stiffness in function of their interaction torques and their deviation from the desired trajectories, while maintaining the dynamic stability. As a reference input, the average of a set of recorded gaits obtained from healthy subjects is used. The algorithm has been tested with five healthy subjects showing its efficient behavior in initiating the gait and maintaining the equilibrium while walking in presence of external forces. The work is performed as a preliminary study to assist patients suffering from incomplete Spinal cord injury and Stroke.
dc.format.extent4 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotic exoskeletons
dc.subject.lcshRobotics in medicine
dc.subject.lcshMedical rehabilitation
dc.subject.otherExoskeleton
dc.subject.otherWearable robot
dc.subject.otherGait initiation
dc.subject.otherAdaptive control
dc.subject.otherGait assistance
dc.subject.otherRehabilitation
dc.titleCompliant gait assistance triggered by user intention
dc.typeConference report
dc.subject.lemacRobòtica en medicina
dc.subject.lemacRehabilitació
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.identifier.doi10.1109/EMBC.2015.7319242
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7319242
dc.rights.accessOpen Access
local.identifier.drac17373607
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/MICINN/PC2010-2014/Consolider/Ingenio
local.citation.authorRajasekaran, V.; Aranda, J.; Casals, A.
local.citation.contributorAnnual International Conference of the IEEE Engineering in Medicine and Biology Society
local.citation.pubplaceMilan
local.citation.publicationName2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)
local.citation.startingPage3885
local.citation.endingPage3888


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