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An adaptive control strategy for postural stability using a wearable robot

Rajasekaran, Vijaykumar ; Aranda, Joan ; Casals, Alicia ; Pons, Jose L.

Robotics and autonomous systems, 2015-11, Vol.73, p.16-23 [Periódico revisado por pares]

Elsevier B.V

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  • Título:
    An adaptive control strategy for postural stability using a wearable robot
  • Autor: Rajasekaran, Vijaykumar ; Aranda, Joan ; Casals, Alicia ; Pons, Jose L.
  • Assuntos: Adaptive control ; Balance controls ; Exoskeleton controls ; Informàtica ; Postural stability ; Robotic exoskeletons ; Robotics in medicine ; Robòtica ; Robòtica en medicina ; Àrees temàtiques de la UPC
  • É parte de: Robotics and autonomous systems, 2015-11, Vol.73, p.16-23
  • Descrição: Wearable robots are expected to expand the use of robotics in rehabilitation since they can widen the assistance application context. An important aspect of a rehabilitation therapy, in terms of lower extremity assistance, is balance control. In this article, we propose and evaluate an adaptive control strategy for robotic rehabilitation therapies to guarantee static stability using a wearable robot. Postural balance control can be implemented either acting on the hip, on the ankle joint or on both, depending on the kind of perturbation acting on the subject: internal or external. Internal perturbations can be produced by any voluntary movement of the body, such as bending the trunk. External perturbations, in the form of an impact force, are applied by the exoskeleton without any prior notice to observe the proactive response of the subject. We have used a 6 degree of freedom planar lower limb exoskeleton, H1, to perform this analysis. The developed control strategy has been designed to provide the necessary assistance, related to balance recovery and postural stability, under the “Assist-as-needed” paradigm. The interaction forces between orthosis and subject are monitored, as they play a relevant role in the definition of assistive and resistive movements to be applied to the joints. The proposed method has been tested with 5 healthy subjects in presence of internal and external disturbances. The results demonstrate that knowing the stability limit of each subject, in combination with a therapeutically selected scaling factor, the proposed adaptive control helps in providing an effective assistance in therapy. This method is efficient in handling the individual and combined effect of external perturbations acting on any joint movements. •Assisted exoskeleton control inspired by human balance control.•Adaptive impedance control for effective postural stabilization.•Postural stability in presence of external perturbations.•Evaluation of control strategies based on individual joint control or combined action.•Postural stability training for individuals with neuro-muscular disorders.
  • Editor: Elsevier B.V
  • Idioma: Inglês
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  • Realização: ABCD-USP USP   Logos de Redes Sociais: Freepik

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