Online Assessment of Human-Robot Interaction for Hybrid Control of Walking
- Resource Type
- article
- Authors
- Ana de-los-Reyes; José L. Pons; Antonio J. del-Ama; Ángel Gil-Agudo; Juan C. Moreno
- Source
- Sensors, Vol 12, Iss 1, Pp 215-225 (2011)
- Subject
- human-robot interaction
hybrid control
gait
exoskeleton
functional electrical stimulation
muscle fatigue
Chemical technology
TP1-1185
- Language
- English
- ISSN
- 1424-8220
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.