Multisensor-fusion and regulation of robotic rehabilitation systems via robust filtering and Markovian control

• Grant number: 12/14074-3
• Support Opportunities: Scholarships in Brazil - Doctorate (Direct)
• Start date: September 01, 2012
• End date: August 31, 2016
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Marco Henrique Terra
• Grantee: Christoph Michael Mitschka
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This project proposes a Multi-Sensor Fusion to detect locomotion states in real-time, for integration into robotic rehabilitation systems. For that, radical information about the gait phase will be gathered by a feasible sensor configuration. Low-cost sensors will justify the effort of robust filters. In this respect, the states of the healthy limb and its joints will be considered. To obtain optimal results Markovian Control will be implemented for the whole gait-pattern and its states to ensure appropriate control and delicate treatment during the interaction between human and machine. (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)

MITSCHKA, CHRISTOPH M.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.; IEEE. Markovian theory applied for the development of control strategies in rehabilitation robotics. 2017 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 6-pg., 2017-01-01. (12/14074-3)