Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study

• Published in: arXiv.org
• Main Authors: Christou, Andreas, del-Ama, Antonio J, Moreno, Juan C, Vijayakumar, Sethu
• Format: Paper Journal Article
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 08.03.2024
• Subjects: Adaptive control; Collaboration; Computer Science - Robotics; Control systems design; Controllers; Cooperation; Gait; Muscle fatigue; Muscles; Muscular fatigue; Robot control; Robots

The hybridisation of robot-assisted gait training and functional electrical stimulation (FES) can provide numerous physiological benefits to neurological patients. However, the design of an effective hybrid controller poses significant challenges. In this over-actuated system, it is extremely diffic...