NDLI: Novel method to form adaptive internal impedance profiles in walkers

Content Provider	IEEE Xplore Digital Library
Author	Escudero Morland, M.F. Althoefer, K. Nanayakkara, T.
Copyright Year	2015
Description	Author affiliation: Dept. of Inf., King's Coll. London, London, UK (Escudero Morland, M.F.; Althoefer, K.; Nanayakkara, T.)
Abstract	This paper proposes a novel approach to improve walking in prosthetics, orthotics and robotics without closed loop controllers. The approach requires impedance profiles to be formed in a walker and uses state feedback to update the profiles in real-time via a simple policy. This approach is open loop and inherently copes with the challenge of uncertain environment. In application it could be used either online for a walker to adjust its impedance profiles in real-time to compensate for environmental changes, or offline to learn suitable profiles for specific environments. So far we have conducted simulations and experiments to investigate the transient and steady state gaits obtained using two simple update policies to form damping profiles in a passive dynamic walker known as the rimless wheel (RW). The damping profiles are formed in the motor that moves the RW vertically along a rail, analogous to a knee joint, and the two update equations were designed to a) control the angular velocity profile and b) minimise peak collision forces. Simulation results show that the velocity update equation works within limits and can cope with varying ground conditions. Experiment results show the angular velocity average reaching the target as well as the peak force update equation reducing peak collision forces in real-time.
Starting Page	7764
Ending Page	7767
File Size	1771323
Page Count	4
File Format	PDF
ISSN	1557170X
e-ISBN	9781424492718
DOI	10.1109/EMBC.2015.7320192
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-25
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Damping Mathematical model Force Impedance Angular velocity Knee Legged locomotion
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Novel compliant actuator for wearable robotics applications

Detection of critical errors of locomotion mode recognition for volitional control of powered transfemoral prostheses

Knee-extension-assist for knee-ankle-foot orthoses

Gait phase detection in able-bodied subjects and dementia patients

Quantitative evaluation of unrestrained human gait on change in walking velocity

Adaptive estimation of temporal gait parameters using body-worn gyroscopes

A pneumatically-actuated lower-limb orthosis

A running controller for a powered transfemoral prosthesis

Development of control model for intelligently controllable ankle-foot orthosis

Novel method to form adaptive internal impedance profiles in walkers

Similar Documents

Novel compliant actuator for wearable robotics applications

Detection of critical errors of locomotion mode recognition for volitional control of powered transfemoral prostheses

Knee-extension-assist for knee-ankle-foot orthoses

Gait phase detection in able-bodied subjects and dementia patients

Quantitative evaluation of unrestrained human gait on change in walking velocity

Adaptive estimation of temporal gait parameters using body-worn gyroscopes

A pneumatically-actuated lower-limb orthosis

A running controller for a powered transfemoral prosthesis

Development of control model for intelligently controllable ankle-foot orthosis

Novel method to form adaptive internal impedance profiles in walkers