Online CPG-Based Gait Monitoring and Optimal Control of the Ankle Joint for Assisted Walking in Hemiplegic Subjects
| Autor: | Christine Azevedo-Coste, Rodolphe Héliot, Katja Mombaur |
|---|---|
| Přispěvatelé: | Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information (CEA-LETI), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Interdisciplinary Center for Scientific Computing (IWR), Universität Heidelberg [Heidelberg] = Heidelberg University, Mombaur, Katja, Berns, Karsten, Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Universität Heidelberg [Heidelberg], Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM) |
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
medicine.medical_specialty Engineering business.industry Stance phase 0206 medical engineering Central pattern generator 02 engineering and technology Optimal control 020601 biomedical engineering [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Physical medicine and rehabilitation medicine.anatomical_structure Gait (human) medicine Functional electrical stimulation A priori and a posteriori Ankle Joint (audio engineering) business Simulation |
| Zdroj: | Cognitive Systems Monographs ISBN: 9783642363672 Modeling, Simulation and Optimization of Bipedal Walking Mombaur, Katja; Berns, Karsten. Modeling, Simulation and Optimization of Bipedal Walking, 18, Springer Berlin Heidelberg, pp.53-69, 2013, Cognitive Systems Monographs, ⟨10.1007/978-3-642-36368-9_5⟩ |
| DOI: | 10.1007/978-3-642-36368-9_5 |
| Popis: | International audience; The paper introduces an approach to the FES-assisted correction of the drop-foot syndrome in post-stroke hemiplegic patients. The approach is based on a two stage architecture. One stage is dedicated to the online estimation of high-level gait information and the second to the generation of optimal ankle joint trajectories for walking assistance. The general gait information is obtained through the observation of one limb based on a central pattern generator model generating rhythmic trajectories which auto-adapt to real-measurements. This allows us to obtain information about the execution of the walking cycle. Optimal control is used to generate ankle joint dorsi-flexion trajectories during the swing phase of the corresponding deficient leg based on a muscle model and on the information provided by the first stage and some estimated or measured information about the controlled leg. This allows us to minimize a criteria linked to muscle activation, excitation or fatigue while satisfying constraints such as ground clearance, instead of just mimicking a priori chosen foot ankle trajectories which may be suboptimal. The strategy is validated in simulation using experimental data recorded in one healthy subject. |
| Databáze: | OpenAIRE |
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