Development of gait control algorithms for an exoskeleton for lower limbs

• Grant number: 08/09530-4
• Support type: Regular Research Grants
• Duration: February 01, 2009 - July 31, 2011
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Adriano Almeida Gonçalves Siqueira
• Home 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)

Scientific publications

(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)

JARDIM, BRUNO; SIQUEIRA, ADRIANO A. G. Development and analysis of series elastic actuators for impedance control of an active ankle-foot orthosis. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 36, n. 3, p. 501-510, MAY 2014. Web of Science Citations: 3.