Online assessment of human-robot interaction for hybrid control of walking

Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user's muscles. The combined (hybrid) approach has the potential to provide a solution to the drawback of each approach. Spe...

Full description

Saved in:
Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 12; no. 1; pp. 215 - 225
Main Authors del-Ama, Antonio J, Moreno, Juan C, Gil-Agudo, Angel, de-los-Reyes, Ana, Pons, José L
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 01.01.2012
Molecular Diversity Preservation International (MDPI)
Subjects
Ankle
Assessments
Biofeedback
Biomechanical Phenomena - physiology
exoskeleton
Finite Element Analysis
functional electrical stimulation
Gait
human-robot interaction
Humans
Hybrid control
Kinematics
Knee
Knee Joint - physiopathology
Linear Models
Man-Machine Systems
Muscle fatigue
Muscle Fatigue - physiology
Muscles
On-line systems
Online
Online Systems
Orthotic Devices
Physiology
Rehabilitation
Restoration
Robotics - instrumentation
Robots
Sensors
Spinal cord injuries
Stimulation
Torque
Training
Walking
Walking - physiology
Spain
functional electrical stimulation
human-robot interaction
hybrid control
exoskeleton
gait
muscle fatigue
Online AccessGet full text

Cover

More Information
Summary:Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user's muscles. The combined (hybrid) approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ObjectType-Article-1
ObjectType-Feature-2
ISSN:1424-8220
1424-8220
DOI:10.3390/s120100215