A novel FES control paradigm based on muscle synergies for postural rehabilitation therapy with hybrid exoskeletons

S. Piazza*, D. Torricelli, F. Brunetti, A. J. Del-Ama, A. Gil-Agudo, Jose L Pons

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

Hybrid exoskeletons combine robotic orthoses and motor neuroprosthetic devices to compensate for motor disabilities and assist rehabilitation. The basic idea is to take benefits from the strength of each technology, primarily the power of robotic actuators and the clinical advantages of using patient's muscles, while compensating for the respective weaknesses: weight and autonomy for the former, fatigue and stability for the latter. While a wide repertory of solutions have been proposed in literature for the control of robotic orthoses and simple motor neuroprosthesis, the same problem on a complex hybrid architecture, involving a wide number of muscles distributed on multiple articulations, still waits for a practical solution. In this article we present a general algorithm for the control of the neuroprosthesis in the execution of functional coordinated movements. The method extracts muscle synergies as a mean to diagnose residual neuromotor capabilities, and adapts the rehabilitation exercise to patient requirements in a dynamic way. Fatigue effects and unexpected perturbations are compensated by monitoring functional state variables estimated from sensors in the robot. The proposed concept is applied to a case-study scenario, in which a postural balance rehabilitation therapy is presented.

Original languageEnglish (US)
Title of host publication2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
Pages1868-1871
Number of pages4
DOIs
StatePublished - Dec 14 2012
Event34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012 - San Diego, CA, United States
Duration: Aug 28 2012Sep 1 2012

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Other

Other34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012
CountryUnited States
CitySan Diego, CA
Period8/28/129/1/12

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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    Piazza, S., Torricelli, D., Brunetti, F., Del-Ama, A. J., Gil-Agudo, A., & Pons, J. L. (2012). A novel FES control paradigm based on muscle synergies for postural rehabilitation therapy with hybrid exoskeletons. In 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012 (pp. 1868-1871). [6346316] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2012.6346316