Online Assessment of Human-Robot Interaction for Hybrid Control of Walking

Sensors

Antonio J. del-Ama²  Juan C. Moreno¹  Àngel Gil-Agudo²  Ana de-los-Reyes² 

[1] Bioengineering Group, National Research Council (CSIC), Carretera Campo Real km 0.200, Arganda del Rey 28500, Spain;Biomechanics and Technical Aids Department, National Hospital for Spinal Cord Injury, Finca La Peraleda S/N, Toledo 45007, Spain

关键词: human-robot interaction;    hybrid control;    gait;    exoskeleton;    functional electrical stimulation;    muscle fatigue;   

DOI  :  10.3390/s120100215

来源: mdpi

【 摘 要 】

Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid) approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland