Validating Model-Based Prediction Of Biological Knee Moment During Walking With An Exoskeleton in Crouch Gait: Potential Application for Exoskeleton Control

IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Ji ChenThomas C Bulea

Abstract

Advanced control strategies that can adjust assistance based volitional effort from the user may be beneficial for deploying exoskeletons for overground gait training in ambulatory populations, such as children with cerebral palsy (CP). In this study, we evaluate the ability to predict biological knee moment during stance phase of walking with an exoskeleton in two children subjects with crouch gait from CP. The predictive model characterized the knee as a rotational spring with the addition of correction factors at knee extensor moment extrema to predict the instantaneous knee moment profile from the knee angle. Our model prediction performance was comparable to previous studies for weight acceptance (WA) and mid-stance (MS) phases in both assisted (Assist) and non-assisted (Zero) modes based on normalized root mean square error (RMSE), demonstrating the feasibility of joint moment estimation during exoskeleton walking. RMSE was highest in late stance phase, likely due to the non-linear knee stiffness exhibited during this phase in one participant. Overall, our results support real-time implementation of the joint moment prediction model for control of exoskeleton knee extension assistance in children with CP.

Citations

Sep 8, 2021·Biomedical Engineering Online·Alberto GonzalezPeter McNair

❮ Previous
Next ❯

Related Concepts

Related Feeds

Birth Defects

Birth defects encompass structural and functional alterations that occur during embryonic or fetal development and are present since birth. The cause may be genetic, environmental or unknown and can result in physical and/or mental impairment. Here is the latest research on birth defects.

Related Papers

IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
Zachary F LernerThomas C Bulea
IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
Zachary F LernerThomas C Bulea
Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Thomas C BuleaD L Damiano
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Zachary F LernerThomas C Bulea
© 2021 Meta ULC. All rights reserved