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Robust system for estimation of absolute angular positions and force interaction for exoskeletons of lower limbs

Grant number: 12/05552-9
Support type:Scholarships in Brazil - Doctorate
Effective date (Start): August 01, 2012
Effective date (End): January 31, 2015
Field of knowledge:Engineering - Mechanical Engineering
Principal researcher:Adriano Almeida Gonçalves Siqueira
Grantee:Samuel Lourenço Nogueira
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil


This project proposes the development of a robust filtering system to estimate absolute angular positions and forces of interaction in lower limb exoskeletons. The estimate of angular positions and the interaction forces generated by the contact between the user and the links of the exoskeleton, are essential to reproduce a walking stable, secure and in accordance with the intention of walking the user. The aim is to use Inertial Measurement Unit (IMU), encoders and pressure sensors as base units of measurement, and the force measurement systems present in actuators. In this project will be proposed the use of low cost IMU sensors, justifying the use of robust filtering and allowing the construction of portable ambulatory for physiotherapy patients, breaking the premise that is necessary to build a dedicated laboratory. It is noteworthy that this subject has been worked by the research group of Rehabilitation Robotics Laboratory in the project of scientific initiation of the student Cleiton Caltran, scholarship FAPESP (process no. 2009/05713-0). The absolute filtering system will be evaluated in Exo-Kanguera, a exoskeleton for lower limbs developed and built in the same laboratory with the support of FAPESP through Individual Research Project (process no. 2008/09530-4), on behalf of Prof. Dr. Adriano A. G. Siqueira, supervisor of this proposal. Are also associated to the projects of master's student William M. dos Santos (process no. 2011/04074-2) and doctorate student Bruno Jardim.

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Scientific publications (4)
(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)
NOGUEIRA, SAMUEL L.; SIQUEIRA, ADRIANO A. G.; INOUE, ROBERTO S.; TERRA, MARCO H.. Markov Jump Linear Systems-Based Position Estimation for Lower Limb Exoskeletons. SENSORS, v. 14, n. 1, p. 1835-1849, . (12/05552-9)
LAMBRECHT, STEFAN; NOGUEIRA, SAMUEL L.; BORTOLE, MAGDO; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.; ROCON, EDUARDO; PONS, JOSE L.. Inertial Sensor Error Reduction through Calibration and Sensor Fusion. SENSORS, v. 16, n. 2, . (12/05552-9)
NOGUEIRA, SAMUEL L.; LAMBRECHT, STEFAN; INOUE, ROBERTO S.; BORTOLE, MAGDO; MONTAGNOLI, ARLINDO N.; MORENO, JUAN C.; ROCON, EDUARDO; TERRA, MARCO H.; SIQUEIRA, ADRIANO A. G.; PONS, JOSE L.. Global Kalman filter approaches to estimate absolute angles of lower limb segments. BIOMEDICAL ENGINEERING ONLINE, v. 16, . (12/05552-9)
NOGUEIRA, SAMUEL L.; PAZELLI, TATIANA F. P. A. T.; SIQUEIRA, ADRIANO A. G.; TERRA, MARCO H.. Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators. SENSORS, v. 13, n. 4, p. 5181-5204, . (12/05552-9)
Academic Publications
(References retrieved automatically from State of São Paulo Research Institutions)
NOGUEIRA, Samuel Lourenço. Markovians systems to estimate absolute angles in lower limb exoskeletons. 2015. Doctoral Thesis - Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) São Carlos.

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