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Hybrid adaptive strategies for lower limb exoskeletons

Grant number: 19/05937-7
Support Opportunities:Regular Research Grants
Duration: May 01, 2020 - October 31, 2022
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Adriano Almeida Gonçalves Siqueira
Grantee:Adriano Almeida Gonçalves Siqueira
Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Associated researchers: Anselmo Frizera Neto ; Antonio Padilha Lanari Bo ; Glauco Augusto de Paula Caurin ; Marcela de Abreu Silva Couto ; Thiago Luiz de Russo ; Wilian Miranda dos Santos
Associated grant(s):22/11179-0 - Brazilian Congress of Automatics - CBA 2022, AR.BR

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)

Articles published in Pesquisa FAPESP Magazine about the research grant:
La innovación tecnológica amplía la autonomía 
Technological innovation increases autonomy 
Robots que ayudan a caminar 
Robots as walking aids 
Articles published in Agência FAPESP Newsletter about the research grant:
Articles published in other media outlets (0 total):
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VEICULO: TITULO (DATA)

Scientific publications (13)
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Markovian Robust Filtering and Control Applied to Rehabilitation Robotics. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 26, n. 1, p. 491-502, . (11/04074-3, 14/50851-0, 13/14756-0, 19/05937-7)
PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO I.. Identification of Gait Events in Healthy and Parkinson's Disease Subjects Using Inertial Sensors: A Supervised Learning Approach. IEEE SENSORS JOURNAL, v. 20, n. 24, p. 14984-14993, . (19/05937-7, 15/50376-2)
DOS SANTOS, LEONARDO F.; ESCALANTE, FELIX M.; SIQUEIRA, ADRIANO A. G.; BOAVENTURA, THIAGO; IEEE. IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator. 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), v. N/A, p. 6-pg., . (18/15472-9, 13/14756-0, 21/09244-6, 19/05937-7)
ESCALANTE, FELIX M.; JUTINICO, ANDRES L.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Robust linear quadratic regulator applied to an inverted pendulum. ASIAN JOURNAL OF CONTROL, v. N/A, p. 13-pg., . (11/04074-3, 14/50851-0, 13/14756-0, 19/05937-7)
MORENO, JOSE Y.; ESCALANTE, FELIX M.; BOAVENTURA, THIAGO; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.; IEEE. ReRobApp: A modular and open-source software framework for robotic rehabilitation and human-robot interaction. 2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022), v. N/A, p. 6-pg., . (13/14756-0, 19/05937-7, 22/06634-0, 18/15472-9)
OSTAN, ICARO; GONCALVES SIQUEIRA, ADRIANO ALMEIDA; IEEE. Haptic Feedback Interface based on Cascade Admittance-Impedance Controller. 2022 9TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2022), v. N/A, p. 6-pg., . (19/05937-7)
VILLAMIZAR, J. Y. M.; OSTAN, I; ORTEGA, D. A. E.; SIQUEIRA, A. A. G.; BASTOS-FILHO, TF; CALDEIRA, EMD; FRIZERA-NETO, A. Remote Control Architecture for Virtual Reality Application for Ankle Therapy. XXVII BRAZILIAN CONGRESS ON BIOMEDICAL ENGINEERING, CBEB 2020, v. N/A, p. 6-pg., . (19/05937-7)
ESCALANTE, FELIX M.; DOS SANTOS, LEONARDO F.; MORENO, YECID; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.; BOAVENTURA, THIAGO. Markovian Transparency Control of an Exoskeleton Robot. IEEE ROBOTICS AND AUTOMATION LETTERS, v. 8, n. 2, p. 8-pg., . (19/05937-7, 21/09244-6, 18/15472-9, 22/06634-0)
DE GAITANI, F. H. M.; DOS SANTOS, W. M.; SIQUEIRA, A. A. G.. Design and Performance Analysis of a Compact Series Elastic Actuator for Exoskeletons. JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, . (19/23413-5, 19/05937-7)
GARCIA, FRANCISCO A.; PEREZ-IBARRA, JUAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Adaptive Algorithm for Gait Segmentation Using a Single IMU in the Thigh Pocket. IEEE SENSORS JOURNAL, v. 22, n. 13, p. 11-pg., . (19/05937-7, 13/14756-0, 11/10369-6)
NUNES, POLYANA F.; OSTEN, ICARO; SIQUEIRA, ADRIANO A. G.. Evaluation of Motor Primitive-Based Adaptive Control for Lower Limb Exoskeletons. FRONTIERS IN ROBOTICS AND AI, v. 7, . (19/05937-7)
NUNES, P. F.; MOSCONI, D.; OSTAN, I; SIQUEIRA, A. A. G.; BASTOS-FILHO, TF; CALDEIRA, EMD; FRIZERA-NETO, A. Control Design Inspired by Motors Primitives to Coordinate the Functioning of an Active Knee Orthosis for Robotic Rehabilitation. XXVII BRAZILIAN CONGRESS ON BIOMEDICAL ENGINEERING, CBEB 2020, v. N/A, p. 7-pg., . (19/05937-7)
NUNES, P. F.; OSTAN, I; DOS SANTOS, W. M.; SIQUEIRA, A. A. G.; BASTOS-FILHO, TF; CALDEIRA, EMD; FRIZERA-NETO, A. Analysis of Matrix Factorization Techniques for Extraction of Motion Motor Primitives. XXVII BRAZILIAN CONGRESS ON BIOMEDICAL ENGINEERING, CBEB 2020, v. N/A, p. 7-pg., . (19/05937-7)

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