This work deals with neural network-based gait-pattern adaptation algorithm for an active orthosis. The proposed device is developed for lower limbs and based on a commercially available orthosis, Figure 1. Active orthoses can be designed for helping physically weak or injured people during rehabilitation procedures [1]. The robotic orthosis Lokomat is being recently used for rehabilitation of patients with stroke or spinal cord injury individuals [2]. Gait-pattern adaptation algorithms are proposed by Riener, et. al [3], considering the human-machine interaction. The algorithms in Riener, et. al [3] were developed for a fixed base robotic system; they can not be applied directly in the proposed orthosis, since no stability of the gait pattern is considered. A trajectory generator for biped robots taking into account the ZMP (Zero Moment Point) criterion is presented in Huang, et al. [4]. This method presents suitable results with smooth and second-order differentiable curves.
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ASME 2009 Summer Bioengineering Conference
June 17–21, 2009
Lake Tahoe, California, USA
Conference Sponsors:
- Bioengineering Division
ISBN:
978-0-7918-4891-3
PROCEEDINGS PAPER
Neural Network-Based Gait Adaptation Algorithms for Lower Limbs Active Orthoses
Marciel A. Gomes,
Marciel A. Gomes
University of São Paulo, São Carlos, SP, Brazil
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Adriano A. G. Siqueira,
Adriano A. G. Siqueira
University of São Paulo, São Carlos, SP, Brazil
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Guilherme L. M. Silveira
Guilherme L. M. Silveira
University of São Paulo, São Carlos, SP, Brazil
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Marciel A. Gomes
University of São Paulo, São Carlos, SP, Brazil
Adriano A. G. Siqueira
University of São Paulo, São Carlos, SP, Brazil
Guilherme L. M. Silveira
University of São Paulo, São Carlos, SP, Brazil
Paper No:
SBC2009-206167, pp. 191-192; 2 pages
Published Online:
July 19, 2013
Citation
Gomes, MA, Siqueira, AAG, & Silveira, GLM. "Neural Network-Based Gait Adaptation Algorithms for Lower Limbs Active Orthoses." Proceedings of the ASME 2009 Summer Bioengineering Conference. ASME 2009 Summer Bioengineering Conference, Parts A and B. Lake Tahoe, California, USA. June 17–21, 2009. pp. 191-192. ASME. https://doi.org/10.1115/SBC2009-206167
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