Rajasekaran Vijaykumar, Aranda Joan, Casals Alicia
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:3885-8. doi: 10.1109/EMBC.2015.7319242.
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.
提出并评估了一种基于用户意图感知的自动步态初始化策略，该策略应用于下肢可穿戴机器人康复场景。所提出的策略包括监测人机矫形器交互扭矩和初始位置偏差，以确定步态起始时刻，并在需要时修改矫形器操作以辅助步态。在步态过程中，柔顺控制算法根据关节的交互扭矩及其与期望轨迹的偏差来调整关节刚度，同时保持动态稳定性。作为参考输入，使用从健康受试者获得的一组记录步态的平均值。该算法已在五名健康受试者身上进行了测试，结果表明其在启动步态和在存在外力的情况下行走时保持平衡方面具有高效的性能。这项工作是作为一项初步研究进行的，旨在帮助患有不完全脊髓损伤和中风的患者。
