Lower-Limb Wearable Exoskeleton

Rocón, Eduardo

doi:10.5772/5176

Cited by 23 publications

(15 citation statements)

References 8 publications

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“…The GAIT-ESBIRRO device is designed on the principle of a wearable exoskeletal system, and is the first of its kind with bilateral hip, knee and ankle actuators [54, 55]. This exoskeleton is modeled similar to a bilateral hip-knee-ankle–foot orthosis, except that it has powered joints/ actuators, which can move lower limb segments through desired trajectories.…”

Section: Robotic Rehabilitation Devicesmentioning

confidence: 99%

Applications of Brain–Machine Interface Systems in Stroke Recovery and Rehabilitation

Venkatakrishnan

Francisco

Contreras-Vidal

2014

Curr Phys Med Rehabil Rep

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Stroke is a leading cause of disability, significantly impacting the quality of life (QOL) in survivors, and rehabilitation remains the mainstay of treatment in these patients. Recent engineering and technological advances such as brain-machine interfaces (BMI) and robotic rehabilitative devices are promising to enhance stroke neu-rorehabilitation, to accelerate functional recovery and improve QOL. This review discusses the recent applications of BMI and robotic-assisted rehabilitation in stroke patients. We present the framework for integrated BMI and robotic-assisted therapies, and discuss their potential therapeutic, assistive and diagnostic functions in stroke rehabilitation. Finally, we conclude with an outlook on the potential challenges and future directions of these neurotechnologies, and their impact on clinical rehabilitation.

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Section: Robotic Rehabilitation Devicesmentioning

confidence: 99%

Applications of Brain–Machine Interface Systems in Stroke Recovery and Rehabilitation

Venkatakrishnan

Francisco

Contreras-Vidal

2014

Curr Phys Med Rehabil Rep

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“…Inertial sensors, i.e., gyroscope and accelerometer, have also been applied successfully in gait identification [8], [9]. In [3] and [10] is proposed the application of an inertial measurement unit, a device which contains gyroscopes, accelerometers and also magnetometers, to determine the ankle joint segment angle of a leg orthosis.…”

Section: Introductionmentioning

confidence: 99%

“…The development of exoskeletons have been investigated recently and several research centers around the world have presented different solutions (see e.g., [1]- [3]). However some challenges must be overcome so that these robot devices may be employed in rehabilitation of impaired people, especially in the rehabilitation treatment of people with disabilities in lower limbs.…”

Section: Introductionmentioning

confidence: 99%

Sensor fusion applied to position estimation and gait identification of an ankle-foot orthosis

Caltran

Siqueira

2011

ISSNIP Biosignals and Biorobotics Conference 2011

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This paper presents a sensor fusion strategy to estimate the absolute position and to identify the gait events of an active ankle-foot orthosis (AAFO). Sensor fusion is implemented using a Kalman filter with the signals of a gyroscope and an accelerometer, both present in an inertial measurement unit (IMU), besides the signals of three force sensitive resistors (FSRs) mounted in a sole of shoe. For correcting the gyroscopebased position, the redundant accelerometer-based position must be used only under reliable conditions, which are obtained by a proposed switching logic to enable the Kalman filter. Experimental results of the AAFO confirm the efficiency of the proposed sensor fusion strategy.

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“…2.1 Abordagem complementar para filtro de Pons et al (2007). Dentre estas, destaca-se o desenvolvimento de tecnologias robóticas vestíveis, do inglês Wearable Robots (WR), sendo que tais dispositivos podem ser utilizados de forma assistiva ou para reabilitação de indivíduos com deficiência de locomoção.…”

Section: Metodologiasunclassified

Sistemas Markovianos para estimativa de ângulos absolutos em exoesqueletos de membros inferiores

Nogueira¹

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Nesta tese de doutorado são apresentados sistemas globais de estimativa baseados em modelos Markovianos aplicados na área de reabilitação robótica. Os sistemas propostos foram desenvolvidos para estimar as posições angulares dos elos de exoesqueletos para membros inferiores, desenvolvidos para reabilitação motora em pacientes que sofreram Acidente Vascular Cerebral (AVC) ou lesão medular. Filtros baseados no filtro de Kalman, um nominal e outro considerando incertezas no modelo, foram utilizados em estratégias de fusão de dados de sensores provenientes de sensores inerciais, possibilitando estimativas de posicionamentos angulares. Algoritmos genéticos são utilizados na otimização dos filtros, ajustando as matrizes de peso destes. Em oposição às modelagens tradicionais, via estimativa local, utilizando somente uma unidade inercial para cada modelo, propõe-se um sistema global de estimativa, obtendo-se a melhor informação de cada sensor combinando-os em um modelo Markoviano. Resultados experimentais com um exoesqueleto foram utilizados para comparar a abordagem Markoviana às convencionais.

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Lower-Limb Wearable Exoskeleton

Cited by 23 publications

References 8 publications

Applications of Brain–Machine Interface Systems in Stroke Recovery and Rehabilitation

Applications of Brain–Machine Interface Systems in Stroke Recovery and Rehabilitation

Sensor fusion applied to position estimation and gait identification of an ankle-foot orthosis

Sistemas Markovianos para estimativa de ângulos absolutos em exoesqueletos de membros inferiores

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