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
fDate :
Aug. 28 2012-Sept. 1 2012
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;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-4119-8
Electronic_ISBN :
1557-170X
DOI :
10.1109/EMBC.2012.6346825
