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Adaptive variable impedance applied to robotic rehabilitation of walking


This research project aims to develop an adaptive strategy based on variable impedance for walking rehabilitation of pos-stroke patients. The proposed strategy will be evaluated in two different robotic devices. The first device is the lower limb exoskeleton Exo-Kanguera, designed and built by the proposer in previous project. The device has three degrees of freedom, acting at hip, knee, ankle joints using series elastic actuators. The second device, named Anklebot, has active actuation in two ankle joints (dorsi/plantarflexion and inversion/eversion) by controlling the impedance of the interface between the device and the user. The proposed adaptive strategy considers the variation of the mechanical impedance of the robotic device's joint based on performance and participation of the patient during the therapy session. It will be proposed cost functions that seek to optimize the interaction between patient and robot, aiming a faster recovery. The performance and participation of patients will be evaluated by means of the data from motion and force, and myoelectric signals captured from the main muscles of walking. The evaluation of the proposed strategy will initially be held in volunteers. (AU)

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Scientific publications (8)
(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)
PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; SILVA-COUTO, MARCELA A.; DE RUSSO, THIAGO L.; KREBS, HERMANO I.. Adaptive Impedance Control Applied to Robot-Aided Neuro-Rehabilitation of the Ankle. IEEE ROBOTICS AND AUTOMATION LETTERS, v. 4, n. 2, p. 185-192, . (11/10369-6, 13/14756-0)
PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO I.. Identification of Gait Events in Healthy Subjects and With Parkinson's Disease Using Inertial Sensors: An Adaptive Unsupervised Learning Approach. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, v. 28, n. 12, p. 2933-2943, . (15/50376-2, 13/14756-0)
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)
DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.. Optimal impedance via model predictive control for robot-aided rehabilitation. CONTROL ENGINEERING PRACTICE, v. 93, . (11/10369-6, 13/14756-0)
SANCHEZ, MANUEL R. A.; LEAL-JUNIOR, ARNALDO G.; SEGATTO, V, MARCELO; MARQUES, CARLOS; DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.; FRIZERA, ANSELMO. Fiber Bragg grating-based sensor for torque and angle measurement in a series elastic actuator's spring. APPLIED OPTICS, v. 57, n. 27, p. 7883-7890, . (13/14756-0, 11/04074-3)
JUTINICO, ANDRES L.; JAIMES, JONATHAN C.; ESCALANTE, FELIX M.; PEREZ-IBARRA, JUAN C.; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.. Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach. FRONTIERS IN NEUROROBOTICS, v. 11, . (13/14756-0, 11/04074-3)
PEREZ-IBARRA, JUAN C.; SIQUEIRA, ADRIANO A. G.; KREBS, HERMANO IGO. Real-Time Identification of Gait Events in Impaired Subjects Using a Single-IMU Foot-Mounted Device. IEEE SENSORS JOURNAL, v. 20, n. 5, p. 2616-2624, . (11/10369-6, 13/14756-0)
PENA, GUIDO G.; CONSONI, LEONARDO J.; DOS SANTOS, WILIAN M.; SIQUEIRA, ADRIANO A. G.. Feasibility of an optimal EMG-driven adaptive impedance control applied to an active knee orthosis. ROBOTICS AND AUTONOMOUS SYSTEMS, v. 112, p. 98-108, . (11/10369-6, 13/14756-0)

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