Hybrid FES-Exoskeleton Controller to Assist Sit-To-Stand movement
| Autor: | Weiguang Huo, Yacine Amirat, Hala Rifai, Samer Mohammed, Mohamed Amine Alouane |
|---|---|
| Přispěvatelé: | SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Amirat, Yacine |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI]
0209 industrial biotechnology Computer science STS movement assistance Powered exoskeleton 02 engineering and technology Knee Joint Lower limb [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Functional electrical stimulation Torque Simulation Knee extensors 020208 electrical & electronic engineering Functional Electrical Stimulation (FES) Quadriceps muscle Active hybrid exoskeleton Torsion spring Impedance control Exoskeleton [SPI.AUTO] Engineering Sciences [physics]/Automatic Control and Systems Engineering Actuator human activities |
| Zdroj: | Proc. Of the 2nd IFAC Conference on Cyber-Physical & Human-Systems, CPHS 2018 Proc. Of the 2nd IFAC Conference on Cyber-Physical & Human-Systems, CPHS 2018, Dec 2018, Miami, United States. pp.352-357 |
| Popis: | International audience; Sit-To-Stand (STS) movement is an important daily living activity and usually a difficult task to achieve, particularly, by post-stroke patients. In this study, a hybrid control approach that combines the use of an impedance-based exoskeleton controller and an event-based Functional Electrical Stimulation (FES) of the knee extensor muscle is proposed to assist the STS transfer movement within an assistance as needed strategy. Actuation of the active lower limb exoskeleton is done using a Serial Elastic Actuator (SEA) that uses a torsion spring to guarantee the measurement of the human exoskeleton interaction torque. The measured torque is fed to a linear desired impedance model to generate a desired trajectory, which will be tracked by the exoskeleton's actuators. Experiments were conducted with one healthy subject to evaluate the feasibility and effectiveness of the proposed approach. The obtained performances show the synergy between the assistance provided through FES of the quadriceps muscle during the extension sub-phase of the STS movement and the one delivered by the knee joint actuator of the lower limb exoskeleton. |
| Databáze: | OpenAIRE |
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