Reducing muscle effort in walking through powered exoskeletons

T. Lenzi, D. Zanotto, P. Stegall, M. C. Carrozza, S. K. Agrawal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations

Abstract

This paper presents a novel assistive control for lower limb exoskeletons. The controller provides the user with a scaled version of the Winter's nominal torque profile, which is adapted online to the specific gait features of the user. The proposed assistive controller is implemented on the ALEX II exoskeleton and tested on two healthy subjects. Experimental results show that when assisted by the exoskeleton users can reduce the muscle effort compared to free walking.

Original languageEnglish
Title of host publication2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
Pages3926-3929
Number of pages4
DOIs
StatePublished - 2012
Event34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012 - San Diego, CA, United States
Duration: 28 Aug 20121 Sep 2012

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Conference

Conference34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012
Country/TerritoryUnited States
CitySan Diego, CA
Period28/08/121/09/12

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