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Event-based control for sit-to-stand transition using a wearable exoskeleton
Rajasekaran, Vijaykumar; Vinagre Ruiz, Manuel; Aranda López, Juan
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GRINS - Robòtica Intel·ligent i Sistemes
Sit-to-stand transition is an essential step in a lower limb rehabilitation therapy, mainly for assisting the patient to transit from wheel chair to the next level of therapy. A mixed stiffness-damping control adaptation is proposed for this task which will help in reaching the final position with a constant velocity. A combination of control model is proposed to ensure the initiation and the final stage of the transition, such as to ensure stability and to maintain the equilibrium. The combined control model helps in reaching the goal position with equal participation from the user. For patient studies, such as with paraplegic patients, a combinational control model with muscle stimulation can be included to provide a complete assistance. The role of muscle stimulation and joint movement assistance is also considered in this control model. Further, final stage of this transition must ensure keeping or helping the user to maintain the upright position.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Medical rehabilitation
Robotics in medicine
Robotic exoskeletons
Exoskeleton
Wearable robots
Sit-to-stand transition
Stiffness-damping control
Rehabilitació
Robòtica en medicina
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers (IEEE)
         

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