2026-04-19T19:15:55Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/839412026-01-29T01:43:29Zcom_2072_1033col_2072_452950

Compliant gait assistance triggered by user intention Rajasekaran, Vijaykumar Aranda López, Juan Casals Gelpí, Alicia Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes Àrees temàtiques de la UPC::Informàtica::Robòtica Robotic exoskeletons Robotics in medicine Medical rehabilitation Exoskeleton Wearable robot Gait initiation Adaptive control Gait assistance Rehabilitation Robòtica en medicina Rehabilitació An automatic gait initialization strategy based on user intention sensing in the context of rehabilitation with a lower-limb wearable robot is proposed and evaluated. The proposed strategy involves monitoring the human-orthosis interaction torques and initial position deviation to determine the gait initiation instant and to modify orthosis operation for gait assistance, when needed. During gait, the compliant control algorithm relies on the adaptation of the joints' stiffness in function of their interaction torques and their deviation from the desired trajectories, while maintaining the dynamic stability. As a reference input, the average of a set of recorded gaits obtained from healthy subjects is used. The algorithm has been tested with five healthy subjects showing its efficient behavior in initiating the gait and maintaining the equilibrium while walking in presence of external forces. The work is performed as a preliminary study to assist patients suffering from incomplete Spinal cord injury and Stroke. Peer Reviewed Postprint (author's final draft) 2015 Conference report Rajasekaran, V., Aranda, J., Casals, A. Compliant gait assistance triggered by user intention. A: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. "2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)". Milan: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 3885-3888. 9781424492695 https://hdl.handle.net/2117/83941 10.1109/EMBC.2015.7319242 eng http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7319242 info:eu-repo/grantAgreement/MICINN/PC2010-2014/Consolider/Ingenio Open Access 4 p. application/pdf Institute of Electrical and Electronics Engineers (IEEE)