Robotic rehabilitation of walking: new strategies based on natural characteristics

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

(4)

(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.; 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. Web of Science Citations: 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. Web of Science Citations: 0.

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. Web of Science Citations: 2.

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. Web of Science Citations: 3.