Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller

None, None; None, None; None, None; None, None; None, None; None, None; None, None; None, None; None, None; None, None

Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller

Conference Paper (2018)

Author(s)

M. Arquilla (Fondazione Santa Lucia (IRCCS))

I. Pisotta (Fondazione Santa Lucia (IRCCS))

F. Tamburella (Fondazione Santa Lucia (IRCCS))

N. L. Tagliamonte (Fondazione Santa Lucia (IRCCS))

M. Masciullo (Fondazione Santa Lucia (IRCCS))

A. R. Wu (École Polytechnique Fédérale de Lausanne)

C. Meijneke (TU Delft - EMSD EEMCS Project engineers M)

H. van der Kooij (University of Twente, TU Delft - Biomechatronics & Human-Machine Control)

A. J. Ijspeert (École Polytechnique Fédérale de Lausanne)

M. Molinari (Fondazione Santa Lucia (IRCCS))

Research Group

Biomechatronics & Human-Machine Control

DOI related publication

https://doi.org/10.1007/978-3-030-01887-0_58

To reference this document use:

https://resolver.tudelft.nl/uuid:16339177-17bd-4bbf-b26e-705524c6346c

More Info

expand_more

Publication Year

2018

Language

English

Research Group

Biomechatronics & Human-Machine Control

Volume number

22

Pages (from-to)

304-308

Publisher

Springer

ISBN (print)

978-3-030-01886-3

ISBN (electronic)

978-3-030-01887-0

Event

International Symposium on Wearable Robotics, WeRob2018 (2018-10-16 - 2018-10-20), Pisa, Italy

Downloads counter

237

Abstract

This work was devoted to preliminary test the Achilles ankle exoskeleton and its NeuroMuscular Controller (NMC) with a test pilot affected by incomplete spinal cord injury. The customization of the robot controller, i.e. a subject-specific tailoring of the assistance level, was performed and a 10-session training to optimize human-robot interaction was finalized. Results demonstrated that controller tuning was in line with the functional clinical assessment. NMC adapted to the variable walking speed during the training and the test pilot was successfully trained in exploiting robotic support and also improved his performance in terms of walking speed and stability. After the training, a higher speed could also be achieved during free walking and hence a slight unexpected rehabilitation effect was evidenced.

No files available

Metadata only record. There are no files for this record.