ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator.
Sensors (Basel)
; 20(3)2020 Jan 31.
Article
em En
| MEDLINE
| ID: mdl-32023988
ABSTRACT
OBJECTIVE:
In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user's kinetic parameters.BACKGROUND:
Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept.METHODOLOGY:
We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator.SIGNIFICANCE:
This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies.CONCLUSION:
ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Robótica
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Extremidade Inferior
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Exoesqueleto Energizado
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Dispositivos Eletrônicos Vestíveis
Limite:
Humans
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Middle aged
Idioma:
En
Ano de publicação:
2020
Tipo de documento:
Article