Oscillator-based assistance of cyclical movements: model-based and model-free approaches.
In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assisting robot's own encoders. The approach is ba...
| Published in: | Medical & Biological Engineering & Computing Vol. 49; no. 10; pp. 1173 - 1186 |
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| Main Authors: | , , , , , , , , , , , , , , , , , , , |
| Format: | research Journal Article |
| Published: |
Springer Nature
Oct2011
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| Online Access: | View this record in EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=104588311&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 104588311 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01400118 PO0 jtl: Medical & Biological Engineering & Computing issn: 01400118 maglogo: N pubinfo: dt: Oct2011 vid: 49 iid: 10 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 104588311 NLM21881902 2011318965 10.1007/s11517-011-0816-1 NLM21881902 104588311 ppf: 1173 ppct: 13 formats: fmt: @attributes: type: P tig: atl: Oscillator-based assistance of cyclical movements: model-based and model-free approaches. aug: au: Ronsse R Lenzi T Vitiello N Koopman B van Asseldonk E De Rossi SM van den Kieboom J van der Kooij H Carrozza MC Ijspeert AJ Ronsse, Renaud Lenzi, Tommaso Vitiello, Nicola Koopman, Bram van Asseldonk, Edwin De Rossi, Stefano Marco Maria van den Kieboom, Jesse van der Kooij, Herman Carrozza, Maria Chiara Ijspeert, Auke Jan affil: Biorobotics Laboratory, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015, Lausanne, Switzerland sug: subj: Technology Models, Biological Robotics Methods Assistive Technology Devices Adaptation, Physiological Physiology Adult Biological Clocks Physiology Electromyography Methods Female Male Movement Physiology Signal Processing, Computer Assisted Walking Physiology Young Adult Adult: 19-44 years Female Male ab: In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assisting robot's own encoders. The approach is based on adaptive oscillators, i.e., mathematical tools that are capable of learning the high level features (frequency, envelope, etc.) of a periodic input signal. Here we present two experiments that we recently conducted to validate our approach: a simple sinusoidal movement of the elbow, that we designed as a proof-of-concept, and a walking experiment. In both cases, we collected evidence illustrating that our approach indeed assisted healthy subjects during movement execution. Owing to the intrinsic periodicity of daily life movements involving the lower-limbs, we postulate that our approach holds promise for the design of innovative rehabilitation and assistance protocols for the lower-limb, requiring little to no user-specific calibration. pubtype: Academic Journal doctype: research Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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