A new 3D center of mass control approach for FES-assisted standing: First experimental evaluation with a humanoid robot

Highlights • Restoring the coordination between upper (functional) and lower (paralyzed) limbs in the context of Functional Electrical Stimulation (FES) assisted posture and transfer in complete paraplegic individuals. • New automatic control framework. • Original paradigm consisting in a kinematic...

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Bibliographic Details
Published inMedical engineering & physics Vol. 38; no. 11; pp. 1270 - 1278
Main Authors Jovic, J, Bonnet, V, Fattal, C, Fraisse, P, Azevedo Coste, Ch
Format Journal Article
LanguageEnglish
Published England Elsevier Ltd 01.11.2016
Elsevier
Subjects
Adult
Automatic
Biomechanical Phenomena
Closed-loop control
Electric Stimulation Therapy
Engineering Sciences
Functional Electrical Stimulation (FES)
Humans
Lower Extremity - physiopathology
Male
Paraplegia - physiopathology
Paraplegia - therapy
Postural Balance
Posture
Posture - physiology
Radiology
Robotics
Transfer assistance
Functional Electrical Stimulation (FES)
Transfer assistance
Closed-loop control
Posture
Functional Electrical Stimulation
FES
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Summary:Highlights • Restoring the coordination between upper (functional) and lower (paralyzed) limbs in the context of Functional Electrical Stimulation (FES) assisted posture and transfer in complete paraplegic individuals. • New automatic control framework. • Original paradigm consisting in a kinematic decoupling between lower and upper limbs. • Controlling the 3D whole body center of mass location by acting only on the lower limb joints. • Validation of the paradigm is performed using a humanoid robot.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:1350-4533
1873-4030
DOI:10.1016/j.medengphy.2016.09.002