| Grant number: | 08/09530-4 |
| Support Opportunities: | Regular Research Grants |
| Start date: | February 01, 2009 |
| End date: | July 31, 2011 |
| 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 |
Abstract
This document presents the current stage of construction of an exoskeleton for lower limbs based on a commercial orthosis and the objectives and expected results for this project. During the first stage, it was performed the modeling and simulation through the ADAMS and Matlab softwares, the implementation of gait-pattern adaptation algorithms and the project and construction of an active ankle-foot orthosis driven by a series elastic actuator with force and impedance control. In this second stage, the other parts of the exoskeleton (knee and the hip drives) will be built. Moreover, it is intended to develop gait-pattern adaptation algorithms based on neural networks and considering the gait stability criterion denoted ZMP (Zero Moment Point), the interaction forces from the user and the analysis of electroencefalographic data. (AU)
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