Mahmood, I, Martinez-Hernandez, U orcid.org/0000-0002-9922-7912 and Dehghani-Sanij, AA (2017) Towards behavioral based sensorimotor controller design for wearable soft exoskeletal applications. In: Ibáñez, J, Gonzalez-Vargas, J, Azorín, JM, Akay, M and Pons, JL, (eds.) Converging Clinical and Engineering Research on Neurorehabilitation II. 3rd International Conference on NeuroRehabilitation (ICNR2016), 18-21 Oct 2016, Segovia, Spain. Biosystems & Biorobotics (15). Springer International Publishing , Cham, Switzerland , pp. 1281-1286. ISBN 978-3-319-46668-2
Abstract
This study presents the assessment of ankle-foot gait abnormalities and estimation of neuromuscular control for maintaining gait dynamic stability and avoid falls. Control signals are modelled as the rate of change in the body COM acceleration as an input and the COP velocity as an output. Experiments show that the toe foot condition is least stable than inverted and normal walk at loading phase. However, the overdamped motor output response, equally stable for the three undamped input instabilities, shows the robustness of our proposed motor controller. Results show that our novel neuromotor inspired controller, based on behavioral I/O signals, is robust and suitable for the assessment of exoskeletal stability and control of wearable soft robotic applications.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Funding Information: | Funder Grant number EPSRC EP/M026388/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 14 Jul 2016 14:46 |
Last Modified: | 20 Aug 2017 13:23 |
Status: | Published |
Publisher: | Springer International Publishing |
Series Name: | Biosystems & Biorobotics |
Identification Number: | 10.1007/978-3-319-46669-9_209 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:102310 |