NDLI: Towards the use of a lower limb exoskeleton for locomotion assistance in individuals with neuromuscular locomotor deficits

Content Provider	IEEE Xplore Digital Library
Author	Murray, S. Goldfarb, M.
Copyright Year	2012
Description	Author affiliation: Vanderbilt Univ., Nashville, TN, USA (Murray, S.; Goldfarb, M.)
Abstract	The authors intend to utilize a lower limb exoskeleton for gait assistance in individuals with lower limb neuromuscular deficit. The authors suggest that two foundational elements are required to do so effectively. First, the exoskeleton system must be capable of reliable real-time gait phase detection, in order to determine the nature of gait assistance to provide. Second, in gait phases or circumstances in which the exoskeleton provides minimal assistance, the passive dynamics of the exoskeleton should not hinder the individual (i.e., should have the capability to minimally interfere with gait dynamics). As such, the exoskeleton system should be capable of actively compensating for its passive dynamics, namely the inertial, gravitational, and frictional effects it imposes on the user. This paper describes the implementation of these two foundational elements (real-time gait phase detection and active cancellation of passive dynamics) on a prototype lower limb exoskeleton, and provides experimental data demonstrating their respective efficacy.
Sponsorship	IEEE Eng. Medicine Biol. Soc.
Starting Page	1912
Ending Page	1915
File Size	899629
Page Count	4
File Format	PDF
ISBN	9781424441198
ISSN	1557170X
e-ISBN	9781457717871
DOI	10.1109/EMBC.2012.6346327
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-08-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Exoskeletons Hip Joints Knee Electromyography Gravity Legged locomotion
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Performance evaluation of a lower limb exoskeleton for stair ascent and descent with Paraplegia

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Towards the use of a lower limb exoskeleton for locomotion assistance in individuals with neuromuscular locomotor deficits

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