Adaptive variable impedance applied to robotic rehabilitation of walking

• Grant number: 13/14756-0
• Support Opportunities: Regular Research Grants
• Start date: July 01, 2014
• End date: June 30, 2016
• 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 research project aims to develop an adaptive strategy based on variable impedance for walking rehabilitation of pos-stroke patients. The proposed strategy will be evaluated in two different robotic devices. The first device is the lower limb exoskeleton Exo-Kanguera, designed and built by the proposer in previous project. The device has three degrees of freedom, acting at hip, knee, ankle joints using series elastic actuators. The second device, named Anklebot, has active actuation in two ankle joints (dorsi/plantarflexion and inversion/eversion) by controlling the impedance of the interface between the device and the user. The proposed adaptive strategy considers the variation of the mechanical impedance of the robotic device's joint based on performance and participation of the patient during the therapy session. It will be proposed cost functions that seek to optimize the interaction between patient and robot, aiming a faster recovery. The performance and participation of patients will be evaluated by means of the data from motion and force, and myoelectric signals captured from the main muscles of walking. The evaluation of the proposed strategy will initially be held in volunteers. (AU)

Scientific publications

(23)

(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)

SANCHEZ, MANUEL R. A.; LEAL-JUNIOR, ARNALDO G.; SEGATTO, V, MARCELO; MARQUES, CARLOS; DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.; FRIZERA, ANSELMO. Fiber Bragg grating-based sensor for torque and angle measurement in a series elastic actuator's spring. APPLIED OPTICS, v. 57, n. 27, p. 7883-7890, SEP 20 2018. (11/04074-3, 13/14756-0)

JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; ESCALANTE, FELIX M.; PEREZ-IBARRA, JUAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach. FRONTIERS IN NEUROROBOTICS, v. 11, AUG 24 2017. (11/04074-3, 13/14756-0)

DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.. Optimal impedance via model predictive control for robot-aided rehabilitation. CONTROL ENGINEERING PRACTICE, v. 93, DEC 2019. (11/10369-6, 13/14756-0)

PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO, I; IEEE. Adaptive Gait Phase Segmentation Based on the Time-Varying Identification of the Ankle Dynamics: Technique and Simulation Results. 2020 8TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), v. N/A, p. 6-pg., 2020-01-01. (13/14756-0, 11/10369-6)

PEREZ-IBARRA, JUAN C.; WILLIAMS, HARRY; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO I.; IEEE. Real-Time Identification of Impaired Gait Phases using a Single Foot-Mounted Inertial Sensor: Review and Feasibility Study. 2018 7TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB2018), v. N/A, p. 6-pg., 2018-01-01. (13/14756-0)

JAIMES, JONATHAN C.; SIQUEIRA, ADRIANO A. G.; IEEE. Preliminary Evaluation of Disturbance Torque Estimation Approaches for Lower-limb Robotic Rehabilitation. 2019 IEEE 16TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR), v. N/A, p. 6-pg., 2019-01-01. (13/14756-0)

JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; ESCALANTE, FELIX M.; PEREZ-IBARRA, JUAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Recursive Robust Regulator for Discrete-time Markovian Jump Linear Systems: Control of Series Elastic Actuators. IFAC PAPERSONLINE, v. 50, n. 1, p. 6-pg., 2017-01-01. (11/04074-3, 13/14756-0)

PEREZ-IBARRA, JUAN C.; JUTINICO ALARCON, ANDRES L.; CAMPO JAIMES, JONATHAN; ESCALANTE ORTEGA, FELIX M.; TERRA, MARCO HENRIQUE; SIQUEIRA, ADRIANO A. G.; IEEE. Design and Analysis of H-infinity Force Control of a Series Elastic Actuator for Impedance Control of an Ankle Rehabilitation Robotic Platform. 2017 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 6-pg., 2017-01-01. (11/04074-3, 13/14756-0)

DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.; IEEE. Optimal Impedance Control for Robot-Aided Rehabilitation of Walking Based on Estimation of Patient Behavior. 2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), v. N/A, p. 6-pg., 2016-01-01. (13/14756-0)

PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.; KREBS, HERMANO, I; IEEE. Hybrid Simulated Annealing and Genetic Algorithm for Optimization of a Rule-based Algorithm for Detection of Gait Events in Impaired Subjects. 2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), v. N/A, p. 5-pg., 2020-01-01. (11/10369-6, 13/14756-0)

MOSCONI, D.; NUNES, P. F.; SIQUEIRA; BASTOS-FILHO, TF; CALDEIRA, EMD; FRIZERA-NETO, A. Modeling and Simulation of a Fuzzy-Based Human Control Using an Interaction model Between Human and Active Knee Orthosis. XXVII BRAZILIAN CONGRESS ON BIOMEDICAL ENGINEERING, CBEB 2020, v. N/A, p. 7-pg., 2022-01-01. (13/14756-0)

PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO IGO. Real-Time Identification of Gait Events in Impaired Subjects Using a Single-IMU Foot-Mounted Device. IEEE SENSORS JOURNAL, v. 20, n. 5, p. 2616-2624, MAR 1 2020. (11/10369-6, 13/14756-0)

PENA, GUIDO G.; CONSONI, LEONARDO J.; DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.. Feasibility of an optimal EMG-driven adaptive impedance control applied to an active knee orthosis. ROBOTICS AND AUTONOMOUS SYSTEMS, v. 112, p. 98-108, FEB 2019. (13/14756-0, 11/10369-6)

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)

PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO I.. Identification of Gait Events in Healthy Subjects and With Parkinson's Disease Using Inertial Sensors: An Adaptive Unsupervised Learning Approach. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, v. 28, n. 12, p. 2933-2943, DEC 2020. (15/50376-2, 13/14756-0)

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)

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.; SILVA-COUTO, MARCELA A.; DE RUSSO, THIAGO L.; KREBS, HERMANO I.. Adaptive Impedance Control Applied to Robot-Aided Neuro-Rehabilitation of the Ankle. IEEE ROBOTICS AND AUTOMATION LETTERS, v. 4, n. 2, p. 185-192, APR 2019. (11/10369-6, 13/14756-0)

MOSCONI, DENIS; NUNES, POLYANA E.; OSTAN, ICARO; SIQUEIRA, ADRIANO A. G.; IEEE. Design and validation of a human-exoskeleton model for evaluating interaction controls applied to rehabilitation robotics. 2020 8TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), v. N/A, p. 6-pg., 2020-01-01. (13/14756-0)

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)

JUTINICO, ANDRES L.; ESCALANTE, FELIX M.; JAIMES, JONATHAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.; IEEE. Markovian robust compliance control based on electromyographic signals. 2018 7TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB2018), v. N/A, p. 6-pg., 2018-01-01. (11/04074-3, 13/14756-0, 14/50851-0)

ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.; IEEE. Robust Kalman Filter and Robust Regulator For Discrete-time Markovian Jump Linear Systems: Control of Series Elastic Actuators. 2018 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA), v. N/A, p. 6-pg., 2018-01-01. (11/04074-3, 13/14756-0)