Tele-Impedance based stiffness and motion augmentation for a knee exoskeleton device

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 2194-2200

  Karavas, Nikos ^a   Ajoudani, Arash ^b   Tsagarakis, Nikos ^a   Saglia, Jody ^a   Bicchi, Antonio ^b   Caldwell, Darwin ^a  

^a ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^b UNIVERSITY OF PISA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ANTAGONISTIC MUSCLES; CONTROL STRATEGIES; ELECTROMYOGRAPHIC SIGNAL; EXOSKELETON DEVICES; EXPERIMENTAL TRIALS; MUSCULOSKELETAL MODEL; SERIES ELASTIC ACTUATIONS; STANDING-UP MOTIONS;

JOINTS (ANATOMY); MUSCLE; STIFFNESS;

ROBOTICS;

EID: 84887302672     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6630872     Document Type: Conference Paper

References (24)

1. A. Zoss, H. Kazerooni, and A. Chu, "Biomechanical design of the berkeley lower extremity exoskeleton (bleex)," Mechatronics, IEEE/ASME Transactions on, vol. 11, no. 2, pp. 128-138, 2006.
2. P. Neuhaus, J. Noorden, T. Craig, T. Torres, J. Kirschbaum, and J. Pratt, "Design and evaluation of mina: A robotic orthosis for paraplegics," in Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on, July 1 2011, pp. 1-8.
3. R. Farris, H. Quintero, and M. Goldfarb, "Preliminary evaluation of a powered lower limb orthosis to aid walking in paraplegic individuals," Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 19, no. 6, pp. 652-659, Dec. 2011.
4. A. Tsukahara, R. Kawanishi, Y. Hasegawa, and Y. Sankai, "Sit-to-stand and stand-to-sit transfer support for complete paraplegic patients with robot suit hal," Advanced robotics, vol. 24, no. 11, pp. 1615-1638, 2010.
5. M. Laffranchi, N. Tsagarakis, and D. Caldwell, "Safe human robot interaction via energy regulation control," in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, Oct. 2009, pp. 35-41.
6. P. Beyl, M. Van Damme, R. Van Ham, R. Versluys, B. Vanderborght, and D. Lefeber, "An exoskeleton for gait rehabilitation: prototype design and control principle," in Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, 2008, pp. 2037-2042.
7. C. Fleischer and G. Hommel, "A human-exoskeleton interface utilizing electromyography," Robotics, IEEE Transactions on, vol. 24, no. 4, pp. 872-882, Aug. 2008.
8. J. Blaya and H. Herr, "Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait," Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 12, no. 1, pp. 24-31, March 2004.
9. A. Ajoudani, N. G. Tsagarakis, and A. Bicchi, "Tele-impedance: Towards transferring human impedance regulation skills to robots," in International Conference of Robotics and Automation-ICRA 2012, Saint Paul, MN, USA, May 14-18 2012.
10. A. Ajoudani, N. Tsagarakis, and A. Bicchi, "Tele-impedance: Teleoperation with impedance regulation using a body-machine interface," The International Journal of Robotics Research, vol. 31, no. 13, pp. 1642-1656, 2012.
11. H. Rifai, S. Mohammed, B. Daachi, and Y. Amirat, "Adaptive control of a human-driven knee joint orthosis," in Robotics and Automation (ICRA), 2012 IEEE International Conference on, May 2012, pp. 2486-2491.
12. S. Lee and Y. Sankai, "Power assist control for walking aid with hal-3 based on emg and impedance adjustment around knee joint," in Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on, vol. 2, 2002, pp. 1499-1504 vol.2.
13. N. C. Karavas, N. G. Tsagarakis, J. Saglia, and D. G. Galdwell, "A novel actuator with reconfigurable stiffness for a knee exoskeleton: Design and modeling," in Advances in Reconfigurable Mechanisms and Robots I, J. S. Dai, M. Zoppi, and X. Kong, Eds. Springer London, 2012, pp. 411-421.
14. N. C. Karavas, N. G. Tsagarakis, and D. G. Galdwell, "Design, modeling and control of a series elastic actuator for an assistive knee exoskeleton," in Biomedical Robotics and Biomechatronics. The Fourth IEEE/RAS-EMBS International Conference on, 2012.
15. NASA-STD-3000 Man-Systems Integration Standards, vol. I.
16. A. Kralj, R. Jaeger, and M. Munih, "Analysis of standing up and sitting down in humans: definitions and normative data presentation," Journal of biomechanics, vol. 23, no. 11, pp. 1123-1138, 1990.
17. T. Buchanan and D. Shreeve, "An evaluation of optimization techniques for the prediction of muscle activation patterns during isometric tasks," Journal of biomechanical engineering, vol. 118, p. 565, 1996.
18. A. Hill, "The heat of shortening and the dynamic constants of muscle," Proceedings of the Royal Society of London. Series B, Biological Sciences, vol. 126, no. 843, pp. 136-195, 1938.
19. F. Zajac et al., "Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control." Critical reviews in biomedical engineering, vol. 17, no. 4, p. 359, 1989.
20. D. Lloyd and T. Besier, "An emg-driven musculoskeletal model to estimate muscle forces and knee joint moments in vivo," Journal of biomechanics, vol. 36, no. 6, pp. 765-776, 2003.
21. J. Visser, J. Hoogkamer, M. Bobbert, and P. Huijing, "Length and moment arm of human leg muscles as a function of knee and hip-joint angles," European journal of applied physiology and occupational physiology, vol. 61, no. 5, pp. 453-460, 1990.
22. K. An, K. Takahashi, T. Harrigan, and E. Chao, "Determination of muscle orientations and moment arms," Journal of biomechanical engineering, vol. 106, p. 280, 1984.
23. R. Osu, D. Franklin, H. Kato, H. Gomi, K. Domen, T. Yoshioka, and M. Kawato, "Short-and long-term changes in joint co-contraction associated with motor learning as revealed from surface emg," Journal of neurophysiology, vol. 88, no. 2, pp. 991-1004, 2002.
24. O. Unluhisarcikli, M. Pietrusinski, B. Weinberg, P. Bonato, and C. Mavroidis, "Design and control of a robotic lower extremity exoskeleton for gait rehabilitation," in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, Sept. 2011, pp. 4893-4898