Analysis of the human interaction with a wearable lower-limb exoskeleton

Applied Bionics and Biomechanics

Volumn 6, Issue 2, 2009, Pages 245-256

  Moreno, Juan C ^a   Brunetti, Fernando ^a   Navarro, Enrique ^b   Forner Cordero, Arturo ^a   Pons, José L ^a  

^a CSIC   (Spain)

^b UNIVERSIDAD POLITÉCNICA DE MADRID   (Spain)

Author keywords

Biological motor systems; Exoskeletons; Man machine systems; Robots

Indexed keywords

EXOSKELETON (ROBOTICS); INTERACTIVE COMPUTER SYSTEMS; JOINTS (ANATOMY); MAN MACHINE SYSTEMS; MUSCLE; ROBOTICS; ROBOTS; WEARABLE TECHNOLOGY;

BIOLOGICAL MOTORS; COGNITIVE INTERACTION; GAIT COMPENSATION; HEALTHY SUBJECTS; HUMAN INTERACTIONS; ROBOTIC DEVICES; ROBOTIC EXOSKELETONS; TESTING PROCEDURE;

HUMAN ROBOT INTERACTION;

EID: 75149178584     PISSN: 11762322     EISSN: 17542103     Source Type: Journal    
DOI: 10.1080/11762320902823324     Document Type: Article

References (26)

1. Barnett S, Bagley A, Skinner H. 1993. Ankle weight effect on gait: orthotic implications. Orthopedics 1993(16):1127-1131.
2. Blaya J, Herr H. 2004. Adaptive control of a variable-impedance ankle-foot orthosis to assist drop foot gait. IEEE Trans Neural Syst Rehabil Eng. 12:24-31.
3. Carrozza MC, Massa B, Dario P, Zecca M, Micera S, Pastacaldi P. 2002. A two DoF finger for a biomechatronic artificial hand. Technol Health Care 10(2):77-89.
4. Ferris D, Gordon K, Sawicki G, Peethambaran A. 2006. An improved powered ankle foot orthosis using proportional myo-electric control. Gait Post. 23:425-428.
5. Forner-Cordero A. 2007. Reduction in reflex latencies of the rectus femoris during gait perturbation experiments. Mot Control 11(Suppl): S178.
6. Forner-Cordero A, van der Helm FCT, Koopman HFJM. 2006. Describing gait as a sequence of states. J Biomech. 39(5):948-957.
7. Freriks B, Hermens HJ. 1999. SENIAM 9: European rcommendations for surface electromiography, results of the SENIAM project [D-rom]. Roessingh Research and Development, Enschea.
8. Gharooni S, Heller B, Tokhi MO. 2000. A new hybrid spring brake orthosis for controlling hip and knee flexion in the swing phase. IEEE Trans Rehabil Eng. 9(1):106-107.
9. Harwin W, Leiber O, Austwick G, Dislis C. 2002. Clinical potential and design of programmable mechanical impendances for orthotic applications. Robotica (16):523-530.
10. Irby S, Kaufman K, Wirta R, Sutherland R. 1999. Optimization and application of a wrap-spring clutch to a dynamic knee-ankle-foot orthosis. IEEE Trans on Rehabil Eng. 7(2):130-134.
11. Kaufman KR, Irby SE, Mathewson JW, Wirta RW, Sutherland DH. 1996. Energy-efficient knee-ankle foot orthosis: a case study. J Prosthet Orthot. 8(3):79-85.
12. Kazerooni H. 1990. Human-robot interaction via the transfer of power and information signals. IEEE Trans Syst Man Cybernet. 20(2):450-463.
13. Kazerooni H, Steger R, Huang L. 2003. Hybrid control of the Berkeley lower extremity exoskeleton. Int J Robot Res. 25(5-6):561-573.
14. Kirtley C. 2004. Automated diagnosis of gait abnormalities. Gait And Clinical Movement Analysis Society (GCMAS). Proceedings of the Annual Meeting of the Gait and Clinical Movement Analysis Society.
15. Krebs HI, Hogan N, Aisen ML, Volpe BT. 2002. Robot-aided neurorehabilitation. IEEE Trans Rehabil Eng. 6(1):75-87.
16. McMillan AG, Kendrick K, Michael JW, Aronson JA, Horton GW. 2004. Preliminary evidence for effectiveness of a stance control orthosis. J Prosthet Orthot. 6:6-13.
17. Moreno JC, Brunetti F, Pons JL, Baydal JM, Barbera R. 2005. Rationale for Multiple compensation of muscle weakness walking with a wearable robotic orthosis. Paper presented at: International Conference on Robotics and Automation, Barcelona, Spain.
18. Moreno JC, Brunetti FJ, Rocon E, Pons J.L. 2008. Immediate effects of a controllable knee ankle foot orthosis for functional compensation of gait in patients with proximal leg weakness. Med Biol Eng Comput. 46(1):43-53.
19. Moreno JC, Rocon E, Ruiz AF, Brunetti F, Pons JL. 2006. Design and implementation of an inertial measurement unit for control of artificial limbs: application on leg orthoses. Sens Actuat B 118:333-337.
20. Perry J. Gait analysis: normal and pathological function. Thorofare, NJ: McGraw-Hill.
21. Pons JL. 2008. Wearable robots: biomechatronic exoskeletons, Chichester, UK: Wiley.
22. Pons JL, Forner-Cordero A, Rocon E, Moreno JC. 2008. Mechatronics and bioinspiration in actuator design and control, Appl Bion Biomech. 5(3):127-133.
23. Reinkensmeyer DJ, Emken JL, Cramer SC. 2004. Robotics, motor learning, and neurologic recovery. Annu Rev Biomed Eng. 6:497-525.
24. Rocon E, Ruiz AF, Pons JL. 2008. Biomechanical modelling of the upper limb for robotics-based orthotic tremor suppression. Appl Bionics and Biomechanics 2(2):81-85.
25. Scott SH. 1999. Apparatus for measuring and perturbing shoulder and elbow joint positions and torques during reaching. J Neurosci Meth. 89(2):119-127.
26. Winter D. 1991. The biomechanics and motor control of human movement. Ontario, Canada: University of Waterloo.