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

doi:10.1007/978-3-319-22876-1_42

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

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 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 language	English (US)
Title of host publication	Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings
Editors	Honghai Liu, Dalin Zhou, Naoyuki Kubota, Xiangyang Zhu, Rüdiger Dillmann
Publisher	Springer Verlag
Pages	495-501
Number of pages	7
ISBN (Print)	9783319228754
DOIs	https://doi.org/10.1007/978-3-319-22876-1_42
State	Published - 2015
Event	8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom Duration: Aug 24 2015 → Aug 27 2015

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9245
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	8th International Conference on Intelligent Robotics and Applications, ICIRA 2015
Country/Territory	United Kingdom
City	Portsmouth
Period	8/24/15 → 8/27/15

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-319-22876-1_42

Cite this

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

Asín-Prieto, Guillermo ; Shimoda, Shingo ; González, José et al. / Testing the generation of speed-dependent gait trajectories to control a 6DoF overground exoskeleton. Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings. editor / Honghai Liu ; Dalin Zhou ; Naoyuki Kubota ; Xiangyang Zhu ; Rüdiger Dillmann. Springer Verlag, 2015. pp. 495-501 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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

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.",

author = "Guillermo As{\'i}n-Prieto and Shingo Shimoda and Jos{\'e} Gonz{\'a}lez and Pons, {Jose L} and Del-Ama, {Antonio J.} and {\'A}ngel Gil-Agudo and Moreno, {Juan C.}",

note = "Funding Information: G. As{\'i}n-Prieto— This study has been funded by grant from the European Commission, within the Seventh Framework Programme (IFP7-ICT-2013-10-611695: BioMot - Smart Wearable Robots with Bioinspired Sensory-Motor Skills). Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 ; Conference date: 24-08-2015 Through 27-08-2015",

year = "2015",

doi = "10.1007/978-3-319-22876-1_42",

language = "English (US)",

isbn = "9783319228754",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "495--501",

editor = "Honghai Liu and Dalin Zhou and Naoyuki Kubota and Xiangyang Zhu and R{\"u}diger Dillmann",

booktitle = "Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings",

}

Asín-Prieto, G, Shimoda, S, González, J, Pons, JL, Del-Ama, AJ, Gil-Agudo, Á & Moreno, JC 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. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9245, Springer Verlag, pp. 495-501, 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015, Portsmouth, United Kingdom, 8/24/15. https://doi.org/10.1007/978-3-319-22876-1_42

Testing the generation of speed-dependent gait trajectories to control a 6DoF overground exoskeleton. / Asín-Prieto, Guillermo; Shimoda, Shingo; González, José et al.
Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings. ed. / Honghai Liu; Dalin Zhou; Naoyuki Kubota; Xiangyang Zhu; Rüdiger Dillmann. Springer Verlag, 2015. p. 495-501 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9245).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Testing the generation of speed-dependent gait trajectories to control a 6DoF overground exoskeleton

AU - Asín-Prieto, Guillermo

AU - Shimoda, Shingo

AU - González, José

AU - Pons, Jose L

AU - Del-Ama, Antonio J.

AU - Gil-Agudo, Ángel

AU - Moreno, Juan C.

N1 - Funding Information: G. Asín-Prieto— This study has been funded by grant from the European Commission, within the Seventh Framework Programme (IFP7-ICT-2013-10-611695: BioMot - Smart Wearable Robots with Bioinspired Sensory-Motor Skills). Publisher Copyright: © Springer International Publishing Switzerland 2015.

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

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U2 - 10.1007/978-3-319-22876-1_42

DO - 10.1007/978-3-319-22876-1_42

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AN - SCOPUS:84951861365

SN - 9783319228754

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 495

EP - 501

BT - Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings

A2 - Liu, Honghai

A2 - Zhou, Dalin

A2 - Kubota, Naoyuki

A2 - Zhu, Xiangyang

A2 - Dillmann, Rüdiger

PB - Springer Verlag

T2 - 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015

Y2 - 24 August 2015 through 27 August 2015

ER -

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

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

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