DocumentCode
2099434
Title
Reducing muscle effort in walking through powered exoskeletons
Author
Lenzi, T. ; Zanotto, Damiano ; Stegall, Paul ; Carrozza, Maria ; Agrawal, Sunil K.
Author_Institution
BioRobotics Inst., Scuola Superiore Sant´Anna, Pisa, Italy
fYear
2012
fDate
Aug. 28 2012-Sept. 1 2012
Firstpage
3926
Lastpage
3929
Abstract
This paper presents a novel assistive control for lower limb exoskeletons. The controller provides the user with a scaled version of the Winter´s nominal torque profile, which is adapted online to the specific gait features of the user. The proposed assistive controller is implemented on the ALEX II exoskeleton and tested on two healthy subjects. Experimental results show that when assisted by the exoskeleton users can reduce the muscle effort compared to free walking.
Keywords
electromyography; gait analysis; medical control systems; muscle; ALEX II exoskeleton; EMG; Winter nominal torque profile; assistive controller; healthy subject; lower limb exoskeleton; muscle effort; novel assistive control; powered exoskeleton; user specific gait feature; walking; Exoskeletons; Hip; Humans; Joints; Legged locomotion; Muscles; Torque; Gait; Humans; Muscle, Skeletal; Self-Help Devices; Walking;
fLanguage
English
Publisher
ieee
Conference_Titel
Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE
Conference_Location
San Diego, CA
ISSN
1557-170X
Print_ISBN
978-1-4244-4119-8
Electronic_ISBN
1557-170X
Type
conf
DOI
10.1109/EMBC.2012.6346825
Filename
6346825
Link To Document