Hybrid adaptive strategies for lower limb exoskeletons

• Grant number: 19/05937-7
• Support Opportunities: Regular Research Grants
• Start date: May 01, 2020
• End date: October 31, 2022
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Adriano Almeida Gonçalves Siqueira
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated researchers: Anselmo Frizera Neto ; Antonio Padilha Lanari Bo ; Glauco Augusto de Paula Caurin ; Marcela de Abreu Silva Couto ; Thiago Luiz de Russo ; Wilian Miranda dos Santos
• Associated research grant(s): 22/11179-0 - Brazilian Congress of Automatics - CBA 2022, AR.BR

Abstract

This research project proposes to develop and evaluate hybrid adaptive strategies for the robotic rehabilitation of walking, using adaptive control algorithms and new interfaces of communication and interaction between the user and the robotic devices, such as, for example, Functional Electrical Stimulation (FES) and Virtual Reality (VR). Specifically, we intend to develop an integrated system of VR and exoskeletons for lower limbs, considering walking on treadmill and over ground. This system will be used in conjunction with the systems for identification of the phases of walking and estimation of muscle fatigue to provide necessary information for the FES adaptive control system. The latter system will work in conjunction with the variable impedance control of the exoskeleton to support walking and promote motor rehabilitation. The estimation algorithms and hybrid adaptive strategies will be evaluated with healthy volunteers and with patients with sequelae due to stroke or incomplete spinal cord injury. (AU)

Scientific publications

(13)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

MORENO, JOSE Y.; ESCALANTE, FELIX M.; BOAVENTURA, THIAGO; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.; IEEE. ReRobApp: A modular and open-source software framework for robotic rehabilitation and human-robot interaction. 2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022), v. N/A, p. 6-pg., 2022-01-01. (13/14756-0, 19/05937-7, 22/06634-0, 18/15472-9)

ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Markovian Robust Filtering and Control Applied to Rehabilitation Robotics. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 26, n. 1, p. 491-502, FEB 2021. (11/04074-3, 14/50851-0, 13/14756-0, 19/05937-7)

DE GAITANI, F. H. M.; DOS SANTOS, W. M.; SIQUEIRA, A. A. G.. Design and Performance Analysis of a Compact Series Elastic Actuator for Exoskeletons. JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, JAN 2022. (19/23413-5, 19/05937-7)

ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Robust linear quadratic regulator applied to an inverted pendulum. ASIAN JOURNAL OF CONTROL, v. N/A, p. 13-pg., 2022-11-08. (11/04074-3, 14/50851-0, 13/14756-0, 19/05937-7)

PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO I.. Identification of Gait Events in Healthy and Parkinson's Disease Subjects Using Inertial Sensors: A Supervised Learning Approach. IEEE SENSORS JOURNAL, v. 20, n. 24, p. 14984-14993, DEC 15 2020. (19/05937-7, 15/50376-2)

OSTAN, ICARO; GONCALVES SIQUEIRA, ADRIANO ALMEIDA; IEEE. Haptic Feedback Interface based on Cascade Admittance-Impedance Controller. 2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022), v. N/A, p. 6-pg., 2022-01-01. (19/05937-7)

VILLAMIZAR, J. Y. M.; OSTAN, I; ORTEGA, D. A. E.; SIQUEIRA, A. A. G.; BASTOS-FILHO, TF; CALDEIRA, EMD; FRIZERA-NETO, A. Remote Control Architecture for Virtual Reality Application for Ankle Therapy. XXVII BRAZILIAN CONGRESS ON BIOMEDICAL ENGINEERING, CBEB 2020, v. N/A, p. 6-pg., 2022-01-01. (19/05937-7)

ESCALANTE, FELIX M.; DOS SANTOS, LEONARDO F.; MORENO, YECID; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.; BOAVENTURA, THIAGO. Markovian Transparency Control of an Exoskeleton Robot. IEEE ROBOTICS AND AUTOMATION LETTERS, v. 8, n. 2, p. 8-pg., 2023-02-01. (19/05937-7, 21/09244-6, 18/15472-9, 22/06634-0)

GARCIA, FRANCISCO A.; PEREZ-IBARRA, JUAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Adaptive Algorithm for Gait Segmentation Using a Single IMU in the Thigh Pocket. IEEE SENSORS JOURNAL, v. 22, n. 13, p. 11-pg., 2022-07-01. (19/05937-7, 13/14756-0, 11/10369-6)

DOS SANTOS, LEONARDO F.; ESCALANTE, FELIX M.; SIQUEIRA, ADRIANO A. G.; BOAVENTURA, THIAGO; IEEE. IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator. 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), v. N/A, p. 6-pg., 2022-01-01. (18/15472-9, 13/14756-0, 21/09244-6, 19/05937-7)

NUNES, POLYANA F.; OSTEN, ICARO; SIQUEIRA, ADRIANO A. G.. Evaluation of Motor Primitive-Based Adaptive Control for Lower Limb Exoskeletons. FRONTIERS IN ROBOTICS AND AI, v. 7, DEC 16 2020. (19/05937-7)

NUNES, P. F.; MOSCONI, D.; OSTAN, I; SIQUEIRA, A. A. G.; BASTOS-FILHO, TF; CALDEIRA, EMD; FRIZERA-NETO, A. Control Design Inspired by Motors Primitives to Coordinate the Functioning of an Active Knee Orthosis for Robotic Rehabilitation. XXVII BRAZILIAN CONGRESS ON BIOMEDICAL ENGINEERING, CBEB 2020, v. N/A, p. 7-pg., 2022-01-01. (19/05937-7)

NUNES, P. F.; OSTAN, I; DOS SANTOS, W. M.; SIQUEIRA, A. A. G.; BASTOS-FILHO, TF; CALDEIRA, EMD; FRIZERA-NETO, A. Analysis of Matrix Factorization Techniques for Extraction of Motion Motor Primitives. XXVII BRAZILIAN CONGRESS ON BIOMEDICAL ENGINEERING, CBEB 2020, v. N/A, p. 7-pg., 2022-01-01. (19/05937-7)