Robotic rehabilitation of walking: new strategies based on natural characteristics

• Grant number: 11/10369-6
• Support Opportunities: Scholarships abroad - Research
• Start date: February 01, 2012
• End date: July 31, 2012
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Adriano Almeida Gonçalves Siqueira
• Host Investigator: Hermano Igo Krebs
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Institution abroad: Massachusetts Institute of Technology (MIT), United States

Abstract

This postdoctoral project proposes a one-year visit to the Newman Laboratory for Biomechanics and Human Rehabilitation, Department of Mechanical Engineering of the Massachusetts Institute of Technology. The goal is to develop new strategies for rehabilitation of post-stroke patients using Anklebot. This robotic device has two active degrees of freedom which move the ankle joints by controlling the impedance of the interface between the equipment and the user. The strategies to be proposed will be based on natural characteristics of human gait, for example, the concepts already shown for passive walking robots. The evaluation of the strategies will initially be conducted on volunteers, and the results will be compared to simulations considering a simplified model of interaction between the user and the device. (AU)

Scientific publications

(7)

(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)

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)

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)

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)

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)

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)

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.; 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)