Hybrid adaptive strategies for lower limb exoskeletons

Abstract

This research project proposes to develop and evaluate hybrid adaptive strategies for the robotic rehabilitation of walking, using adaptive control algorithms and new interfaces of communication and interaction between the user and the robotic devices, such as, for example, Functional Electrical Stimulation (FES) and Virtual Reality (VR). Specifically, we intend to develop an integrated system of VR and exoskeletons for lower limbs, considering walking on treadmill and over ground. This system will be used in conjunction with the systems for identification of the phases of walking and estimation of muscle fatigue to provide necessary information for the FES adaptive control system. The latter system will work in conjunction with the variable impedance control of the exoskeleton to support walking and promote motor rehabilitation. The estimation algorithms and hybrid adaptive strategies will be evaluated with healthy volunteers and with patients with sequelae due to stroke or incomplete spinal cord injury. (AU)