Human Walk Modeled by PCPG to Control a Lower Limb Neuroprosthesis by High-Level Commands

Current active leg prostheses do not integrate the most recent advances in Brain-Computer Interfaces (BCI) and bipedal robotics. Moreover, their actuators are seldom driven by the subject’s intention. This paper aims at showing a summary of our current results in the field of human gait rehabilitati...

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Bibliographic Details
Published inJournal of systemics, cybernetics and informatics Vol. 10; no. 3; pp. 70 - 80
Main Authors Matthieu Duvinage, Thierry Castermans, Rene Jimenez-Fabian, Thomas Hoellinger, Mathieu Petieau, Olivier Verlinden, Guy Cheron, Thierry Dutoit
Format Journal Article
LanguageEnglish
Published International Institute of Informatics and Cybernetics 01.06.2012
Subjects
Bci
Eye Movements
Foot Drop
Human Locomotion
Pcpg
Phase-Resetting
Prosthesis
Stroke
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Summary:Current active leg prostheses do not integrate the most recent advances in Brain-Computer Interfaces (BCI) and bipedal robotics. Moreover, their actuators are seldom driven by the subject’s intention. This paper aims at showing a summary of our current results in the field of human gait rehabilitation. In a first prototype, the main focus was on people suffering from foot drop problems, i.e. people who are unable to lift their feet. However, current work is focusing on a full active ankle orthosis. The approach is threefold: a BCI system, a gait model and an orthosis. Thanks to the BCI system, patients are able to generate high-level commands. Typically, a command could represent a speed modification. Then, a gait model based on a programmable central pattern generator is used to generate the adequate kinematics. Finally, the orthosis is tracking this kinematics when the foot is in the air, whereas, the orthosis is mimicking a spring when the foot is on the ground.
ISSN:1690-4524