Testing the generation of speed-dependent gait trajectories to control a 6DoF overground exoskeleton

Guillermo Asín-Prieto*, Shingo Shimoda, José González, Jose L Pons, Antonio J. Del-Ama, Ángel Gil-Agudo, Juan C. Moreno

*Corresponding author for this work

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

2 Scopus citations

Abstract

Nowadays wearable rehabilitation exoskeletons are one of the most studied gait rehabilitation tool from a technological point of view. Current devices use prerecorded healthy gait patterns. This leads to potentially non-natural imposed gait patterns, and to solve this issue, we propose the use of regression-based methods to reconstruct speed dependent angular trajectories. Results suggest that the proposed method can lead to a more natural gait. Consequently, a naive user may more easily learn to walk under the presence of a robot guidance.

Original languageEnglish (US)
Title of host publicationIntelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings
EditorsHonghai Liu, Dalin Zhou, Naoyuki Kubota, Xiangyang Zhu, Rüdiger Dillmann
PublisherSpringer Verlag
Pages495-501
Number of pages7
ISBN (Print)9783319228754
DOIs
StatePublished - Jan 1 2015
Event8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom
Duration: Aug 24 2015Aug 27 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9245
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Intelligent Robotics and Applications, ICIRA 2015
CountryUnited Kingdom
CityPortsmouth
Period8/24/158/27/15

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Asín-Prieto, G., Shimoda, S., González, J., Pons, J. L., Del-Ama, A. J., Gil-Agudo, Á., & Moreno, J. C. (2015). Testing the generation of speed-dependent gait trajectories to control a 6DoF overground exoskeleton. In H. Liu, D. Zhou, N. Kubota, X. Zhu, & R. Dillmann (Eds.), Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings (pp. 495-501). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9245). Springer Verlag. https://doi.org/10.1007/978-3-319-22876-1_42