Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/89592
Registo completo
Campo DC | Valor | Idioma |
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dc.contributor.author | Carvalho, Simão Pedro Fernandes Machado Dias | por |
dc.contributor.author | Figueiredo, Joana | por |
dc.contributor.author | Santos, Cristina | por |
dc.date.accessioned | 2024-03-15T12:13:28Z | - |
dc.date.available | 2024-03-15T12:13:28Z | - |
dc.date.issued | 2023-01 | - |
dc.identifier.citation | Carvalho, S.P., Figueiredo, J., Santos, C.P. (2023). Wearable Lower Limb Neuroprosthesis: System Architecture and Control Tuning. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_52 | por |
dc.identifier.isbn | 978-3-031-15225-2 | - |
dc.identifier.issn | 2367-3370 | - |
dc.identifier.uri | https://hdl.handle.net/1822/89592 | - |
dc.description.abstract | The use of functional electrical stimulation (FES) through neuroprosthesis is becoming a promising solution in lower limb neurorehabilitation. However, the wearability constraints and time-consuming tuning of stimulation parameters still limit the daily use of neuroprostheses. This work proposes two major contributions, namely: (i) a conceptual design and technical architecture of a fully wearable lower limb neuroprosthesis; and (ii) a Matlab-OpenSim framework that enables fast subject-and muscle-specific tuning of FES controllers based on OpenSim musculoskeletal models. The validation procedures for this study were divided into three phases: (i) Verification of the system architecture real-time requirements; (ii) evaluation of the reliability of the MATLAB-OpenSim framework for tuning PID controller; and (iii) its subsequent use in the neuroprosthesis control with a healthy subject. The obtained results demonstrated that the neuroprosthesis system was able to meet the real-time requirements, with control and data acquisition call periods below 10 ms. Further findings indicated reliable and stable behavior of the simulation-tuned PID controller with an overshoot of 9.82% and a rise time of 0.063 s. The trajectory tracking control results with the neuroprosthesis corroborated the robustness of the tuned PID controller in tracking the desired ankle trajectory (RMSE = 17.23 ± 2.97º and time delay = 0.21 ± 0.070 s). | por |
dc.description.sponsorship | This work has been supported by the Fundação para a Ciência e Tecnologia (FCT) through the Reference Scholarship under Grant SFRH/BD/147878/2019, the Stimulus of Scientific Employment under Grant 2020.03393.CEECIND, and in part by the FEDER Funds through the Programa Operacional Regional do Norte and national funds from FCT with the SmartOs project under Grant NORTE-01-0145-FEDER-030386. It is also supported under the national support to R&D units grant, through the reference project UIDB/04436/2020 and UIDP/04436/2020. | por |
dc.language.iso | eng | por |
dc.publisher | Springer | por |
dc.relation | info:eu-repo/grantAgreement/FCT/POR_NORTE/SFRH%2FBD%2F147878%2F2019/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/CEEC IND 3ed/2020.03393.CEECIND%2FCP1600%2FCT0011/PT | por |
dc.relation | NORTE-01-0145-FEDER-030386 | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F04436%2F2020/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F04436%2F2020/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F04436%2F2020/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F04436%2F2020/PT | por |
dc.rights | openAccess | por |
dc.subject | Closed-loop control | por |
dc.subject | Functional electrical stimulation | por |
dc.subject | Wearable rehabilitation robot | por |
dc.title | Wearable lower limb neuroprosthesis: system architecture and control tuning | por |
dc.type | conferencePaper | por |
dc.peerreviewed | yes | por |
dc.relation.publisherversion | https://link.springer.com/chapter/10.1007/978-3-031-15226-9_52 | por |
oaire.citationStartPage | 572 | por |
oaire.citationEndPage | 583 | por |
oaire.citationVolume | 530 | por |
dc.date.updated | 2024-03-14T09:27:20Z | - |
dc.identifier.doi | 10.1007/978-3-031-15226-9_52 | por |
dc.subject.wos | Science & Technology | - |
sdum.export.identifier | 13437 | - |
sdum.journal | Lecture Notes in Networks and Systems | por |
sdum.conferencePublication | Robotics in Natural Settings, CLAWAR 2022 | por |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
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camera_ready.pdf | 651,96 kB | Adobe PDF | Ver/Abrir |