Online assessment of human-robot interaction for hybrid control of walking

Antonio J. Del-Ama, Juan C. Moreno, Ángel Gil-Agudo, Ana de-los-Reyes, Jose L Pons

Research output: Contribution to journalArticlepeer-review

25 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)215-225
Number of pages11
Issue number1
StatePublished - Jan 2012


  • Exoskeleton
  • Functional electrical stimulation
  • Gait
  • Human-robot interaction
  • Hybrid control
  • Muscle fatigue

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering

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