Postural stability control for Robot-Human cooperation for sit-to-stand assistance

Pasqui, Viviane; Saint-Bauzel, Ludovic; Bidaud, Philippe; Graefenstein, Julian

doi:10.1142/9789812770189_0048

Cited by 6 publications

(4 citation statements)

References 10 publications

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“…To observe the postural state, experimental dynamical analysis of the stand-up gesture has been performed in our laboratory [18]. To record postural data, subjects were instrumented with goniometers placed on the leg articulations (hip, knee, ankle) and accelerometers placed on the breast.…”

Section: Abnormality Detectionmentioning

confidence: 99%

A Reactive Robotized Interface for Lower Limb Rehabilitation: Clinical Results

2009

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Abstract-This article presents clinical results from the use of MONIMAD, a reactive robotized interface for lower limb Rehabilitation of patients suffering from cerebellar disease. The first problem to be addressed is the postural analysis of sit-tostand motion. Experiments with healthy subjects were performed for this purpose. Analysis of external forces shows that sit-tostand transfer can be subdivided into several phases: preacceleration, acceleration, start rising, rising. Observation of Center of Pressure, ground forces and horizontal components force on handles yields rules to identify the stability of the patient and to adjust the robotic interface motion to the human voluntary movement. These rules are used in a fuzzy-based controller implementation. The controller is validated on experiments with diseased patients in Bellan Hospital.

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Section: Abnormality Detectionmentioning

confidence: 99%

A Reactive Robotized Interface for Lower Limb Rehabilitation: Clinical Results

2009

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“…To observe the postural state, experimental dynamical analysis of the stand-up gesture has been performed in our laboratory [17]. To record postural data, subjects are instrumented with goniometers placed on the leg articulations (hit, knee, ankle) and accelerometers placed on the breast.…”

Section: Abnormality Detectionmentioning

confidence: 99%

“…The complete controller structure is shown in Figure 11. A more detailed explanation of implemented fuzzy rules is done in [22]. The outputs of this supervisor (v in Fig.11) are represented in Fig.…”

Section: E Fuzzy Supervisormentioning

confidence: 99%

Intuitiveness facilitates Rehabilitation: Clinical results

Saint-Bauzel

Pasqui

Monteil

2009

2009 IEEE International Conference on Rehabilitation Robotics

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International audience— This article presents how an adapted design of a mechatronics system and its control can lead to an intuitive interface for patients performing sit-to-stand motions. We focus on the design of a control based on fuzzy rules obtained by an analysis of external interaction forces subjects during motion. Experiments are done with 10 diseased patients in Bellan hospital and show a good learning rate

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“…Analyzing the different phases of STS movements by means of multi-body computer simulations, they realized an admittance controller with force reference implementing damping control for the lifting body phase and compliant impedance control for all other phases with a pre-computed reference trajectory based on real human STS transfers (Chugo et al, 2012). Pasqui et al (2007) presented a fuzzy controller to ensure stability of the patient during assisted sit-to-stand transfers. They subdivided the sit-to-stand transfer into several phases and defined fuzzy rules that evaluate the center of pressure and the horizontal component of the handle force to guarantee stability for the patient by switching between controllers implementing variations of admittance control.…”

Section: Introductionmentioning

confidence: 99%

Human sit-to-stand transfer modeling towards intuitive and biologically-inspired robot assistance

et al. 2016

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Sit-to-stand (STS) transfers are a common human task which involves complex sensorimotor processes to control the highly nonlinear musculoskeletal system. In this paper, typical unassisted and assisted human STS transfers are formulated as optimal feedback control problem that finds a compromise between task end-point accuracy, human balance, energy consumption, smoothness of motion and control and takes further human biomechanical control constraints into account. Differential dynamic programming is employed, which allows taking the full, nonlinear human dynamics into consideration. The biomechanical dynamics of the human is modeled by a six link rigid body including leg, trunk and arm segments. Accuracy of the proposed modelling approach is evaluated for different human healthy and patient/elderly subjects by comparing simulations and experimentally collected data. Acceptable model accuracy is achieved with a generic set of constant weights that prioritize the different criteria. Finally, the proposed STS model is used to determine optimal assistive strategies suitable for either a person with specific body segment weakness or a more general weakness. These strategies are implemented on a robotic mobility assistant and are intensively evaluated by 33 elderlies, mostly not able to perform unassisted

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Postural stability control for Robot-Human cooperation for sit-to-stand assistance

Cited by 6 publications

References 10 publications

A Reactive Robotized Interface for Lower Limb Rehabilitation: Clinical Results

A Reactive Robotized Interface for Lower Limb Rehabilitation: Clinical Results

Intuitiveness facilitates Rehabilitation: Clinical results

Human sit-to-stand transfer modeling towards intuitive and biologically-inspired robot assistance

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