Generation of multi-contact motions with passive joints: Improvement of Sitting Pivot Transfer strategy for paraplegics

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

Volumn , Issue , 2012, Pages 1440-1445

  Lengagne, Sebastien ^a   Jovic, Jovana ^b   Pierella, Camilla ^b   Fraisse, Philippe ^b   Azevedo Coste, Christine ^b  

^a KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

^b LIRMM   (France)

Author keywords

constant torque; FES; Motion generation; Multi contact; paraplegia

Indexed keywords

CONSTANT TORQUE; FES; MOTION GENERATION; MULTI-CONTACT; PARAPLEGIA;

BIOMECHANICS; FUNCTIONAL ELECTRIC STIMULATION;

BIOLOGICAL ORGANS;

EID: 84867432483     PISSN: 21551774     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BioRob.2012.6290307     Document Type: Conference Paper

References (23)

1. D. Gagnon, A. M. Koontz, S. J. Mulroy, D. A. Nawoczenski, E. Butler-Forslund, A. Granstrom, S. Nadeau, and M. L. Boninger, "Biomechanics of sitting pivot transfers among individuals with a spinal cord injury: A review of the current knowledge." Topics in Spinal Cord Injury Rehabilitation, vol. 15, no. 2, pp. 33-58, 2009.
2. C. for Spinal Cord Medicine Clinical Practice Guidelines, "Preservation of upper limb function following spinal cord injury: A clinical practice guideline for health-care professionals." J Spinal Cord Med., vol. 28(5), p. 434-470, 2005.
3. A. Kralj and T. Bajd, Functional electrical stimulation : standing and walking after spinal cord injury. Boca Raton, Fl: CRC Press, 1989.
4. D. Popovic and T. Sinkjær, Control of movement for the physically disabled. Springer-Verlag London., 2000.
5. D. Guiraud, T. Stieglitz, K. Koch, J.-L. Divoux, and P. Rabischong, "An implantable neuroprosthesis for standing and walking in paraplegia: 5-year patient follow-up," J. Neural Eng., vol. 3, no. 4, p. 268, 2006.
6. A. M. Koontz, P. Kankipati, Y.-S. Lin, R. A. Cooper, and M. L. Boninger, "Upper limb kinetic analysis of three sitting pivot wheelchair transfer techniques," Clin Biomech (Bristol, Avon), vol. 26, no. 9, pp. 923-9, 2011.
7. D. Gagnon, S. Nadeau, L. Noreau, J. J. Eng, and D. Gravel, "Trunk and upper extremity kinematics during sitting pivot transfers performed by individuals with spinal cord injury," Clin Biomech (Bristol, Avon), vol. 23, no. 3, pp. 279-90, 2008.
8. D. Gagnon, S. Nadeau, L. Noreau, P. Dehail, and D. Gravel, "Quantification of reaction forces during sitting pivot transfers performed by individuals with spinal cord injury," J Rehabil Med, vol. 40, no. 6, pp. 468-76, 2008.
9. Y. Uno, M. Kawato, and R. Suzuki, "Formation and control of optimal trajectory in human multijoint arm movement," Biological Cybernetics, vol. 6, no. 2, pp. 89-101, juin 1989.
10. C. Lin, M. Ayoub, and T. Bernard, "Computer motion simulation for sagittal plane lifting activities," International Journal of Industrial Ergonomics, vol. 24, no. 2, pp. 141-155, May 1999.
11. C. Chang, D. Brown, D. Bloswick, and S. Hsiang, "Biomechanical simulation of manual lifting using space time optimization." Journal of Biomechanics, vol. 34, pp. 527-532, 2001.
12. L. Martin, V. Cahouët, M. Ferry, and F. Fouque, "Optimization model predictions for postural coordination modes," J Biomech, vol. 39, no. 1, pp. 170-6, 2006.
13. I. Bromley, Tetraplegia and paraplegia: a guide for physiotherapists, 5th ed. Edinburgh: Churchill Livingstone, 1998.
14. S.-H. Lee, J. Kim, F. Park, M. Kim, and J. E. Bobrow, "Newtontype algorithms for dynamics-based robot movement optimization," in IEEE Transactions on robotics, vol. 21, 2005, pp. 657-667.
15. S. Lengagne, A. Kheddar, and E. Yoshida, "Considering floatting contact and un-modeled effects for multi-contact motion generation," in Workshop on Humanoid Service Robot Navigation in Crowded and Dynamic Environments at the upcoming IEEE Humanoids Conference, 2011.
16. S. Lengagne, A. Kheddar, S. Druon, and E. Yoshida, "Emulating human leg impairments and disabilities in walking with humanoid robots," in IEEE Int. Conf. on Robotics & Biomimetics, 2011.
17. C. De Boor, A Pratical Guide to Splines. New York: Springer-Verlag, 1978, vol. 27.
18. A. Wächter and L. T. Biegler, "On the implementation of a primaldual interior point filter line search algorithm for large-scale nonlinear programming," Mathematical Programming, vol. 106, pp. 22-57, 2006.
19. A. Murray and P. Larochelle, "A classification scheme for planar 4r, spherical 4r, and spatial rccc linkages to facilitate computer animation," in ASME Design engineering Technical Conferences, 1998.
20. G. Gini, U. Scarfogliero, and M. Folghraiter, "Human-oriented biped robot design: insights into the development of a truly antropomorphic leg," in IEEE International Conference on Robotics and Automation, 2007, pp. 2910-2915.
21. M. Vukobratović and B. Borovac, "Zero-moment point : Thirty five years of its life," International Journal of Humanoid Robotics, vol. 1, no. 1, pp. 157-173, 2004.
22. H. Hirukawa, S. Hattori, K. Harada, S. Kajita, K. Kaneko, F. Kanehiro, K. Fujiwara, and M. Morisawa, "A universal stability criterion of the foot contact of legged robots-adios zmp," in IEEE International Conference on Robotics and Automation (ICRA)., may 2006, pp. 1976-1983.
23. D. Gagnon, S. Nadeau, P. Desjardins, and L. Noreau, "Biomechanical assessment of sitting pivot transfer tasks using a newly developed instrumented transfer system among long-term wheelchair users," J Biomech, vol. 41, no. 5, pp. 1104-10, 2008.