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Online Assessment of Human-Robot Interaction for Hybrid Control of Walking
Biomechanics and Technical Aids Department, National Hospital for Spinal Cord Injury, Finca La Peraleda S/N, Toledo 45007, Spain
Bioengineering Group, National Research Council (CSIC), Carretera Campo Real km 0.200, Arganda del Rey 28500, Spain
* Author to whom correspondence should be addressed.
Received: 3 November 2011; in revised form: 7 December 2011 / Accepted: 16 December 2011 / Published: 27 December 2011
Abstract: Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid) approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.
Keywords: human-robot interaction; hybrid control; gait; exoskeleton; functional electrical stimulation; muscle fatigue
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MDPI and ACS Style
del-Ama, A.J.; Moreno, J.C.; Gil-Agudo, Á.; de-los-Reyes, A.; Pons, J.L. Online Assessment of Human-Robot Interaction for Hybrid Control of Walking. Sensors 2012, 12, 215-225.
del-Ama AJ, Moreno JC, Gil-Agudo Á, de-los-Reyes A, Pons JL. Online Assessment of Human-Robot Interaction for Hybrid Control of Walking. Sensors. 2012; 12(1):215-225.
del-Ama, Antonio J.; Moreno, Juan C.; Gil-Agudo, Ángel; de-los-Reyes, Ana; Pons, José L. 2012. "Online Assessment of Human-Robot Interaction for Hybrid Control of Walking." Sensors 12, no. 1: 215-225.