Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/71243
Título: | Assist-as-needed impedance control strategy for a wearable ankle robotic orthosis |
Autor(es): | Lopes, Joao Pinheiro, Cristiana Figueiredo, Joana Reis, L. P. Santos, Cristina |
Palavras-chave: | Human-Robot Interaction Impedance Control Locomotion and Actuation Systems Robotic Rehabilitation |
Data: | 2020 |
Editora: | IEEE |
Revista: | IEEE International Conference on Autonomous Robot Systems and Competitions |
Citação: | J. Lopes, C. Pinheiro, J. Figueiredo, L. P. Reis and C. P. Santos, "Assist-as-needed Impedance Control Strategy for a Wearable Ankle Robotic Orthosis," 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Ponta Delgada, Portugal, 2020, pp. 10-15, doi: 10.1109/ICARSC49921.2020.9096186. |
Resumo(s): | The use of robots in rehabilitation attempts an effective, compliant, and time-efficient gait recovery while adapting the assistance to the user's needs. Assist-as-needed strategies (AAN), such as adaptive impedance control, have been reported as prominent strategies to enable this recovery effects. This study proposes an interaction-based assist-as-needed impedance control strategy for an ankle robotic orthosis that adapts the robotic assistance by changing the Human-Robot interaction stiffness. The adaptability of the interaction stiffness allows the real-time passage from passive assistance to an active one, approaching AAN gait training. The interaction stiffness was successfully estimated by linear regression of the Human-Robot interaction torque vs angle trajectory curve. From the validation with seven able-bodied subjects, we verified the suitability of this adaptive impedance control for a more compliant, natural, and comfortable motion than the trajectory tracking control. Moreover, the proposed strategy considers the users' motion intention and encourages them to interact closely with the robotic device while guiding their ankle trajectory according to desired trajectories. These achievements contribute to AAN gait training. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/71243 |
ISBN: | 9781728170787 |
DOI: | 10.1109/ICARSC49921.2020.9096186 |
ISSN: | 2573-9360 |
Versão da editora: | https://ieeexplore.ieee.org/document/9096186 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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ICARSC_JoaoLopes_RepositoriUM.pdf | 688,42 kB | Adobe PDF | Ver/Abrir |