Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/71229
Título: | Towards human-knee orthosis interaction based on adaptive impedance control through stiffness adjustment |
Autor(es): | Figueiredo, Joana Felix, Paulo Santos, Cristina Moreno, Juan C. |
Data: | 2017 |
Editora: | IEEE |
Revista: | International Conference on Rehabilitation Robotics ICORR |
Citação: | J. Figueiredo, P. Félix, C. P. Santos and J. C. Moreno, "Towards human-knee orthosis interaction based on adaptive impedance control through stiffness adjustment," 2017 International Conference on Rehabilitation Robotics (ICORR), London, UK, 2017, pp. 406-411, doi: 10.1109/ICORR.2017.8009281. |
Resumo(s): | Rehabilitation interventions involving powered, wearable lower limb orthoses that can provide high-challenging locomotor tasks for repetitive training sessions, mainly when assist-as-needed strategies, such as adaptive impedance control, are designed. In this study, the adaptive behavior was ensured by software control of the robotic stiffness involved in the human-knee orthosis interaction in function of the gait cycle and speed. To estimate the stiffness, we analyzed the interaction torque-angle characteristics with experimental data. The speed-stiffness dependency was more evident when high stiffness values are demanded by the user's effort. Experimental evidence from five healthy subjects highlight that the adaptive control strategy provides a more comfortable, natural motion, and kinematic freedom as compared to the trajectory tracking control, allowing the user to contribute to the gait training. Future insights cover the implementation of gravitational compensation and real-time estimation and control of all inner dynamic properties of the impedance control law. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/71229 |
ISBN: | 9781538622964 |
DOI: | 10.1109/ICORR.2017.8009281 |
ISSN: | 1945-7898 28813853 |
Versão da editora: | https://ieeexplore.ieee.org/document/8009281 |
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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Figueiredo et al ICORR_2017_end.pdf | 1,07 MB | Adobe PDF | Ver/Abrir |