The effects on biomechanics of walking and balance recovery in a novel pelvis exoskeleton during zero-torque control

Dario Martelli, Federica Vannetti, Mario Cortese, Peppino Tropea, Francesco Giovacchini, Silvestro Micera, Vito Monaco, Nicola Vitiello

Research output: Contribution to journalArticle

Abstract

Fall-related accidents are among the most serious concerns in elderly people, amputees and subjects with neurological disorders. The aim of this paper was to investigate the behaviour of healthy subjects wearing a novel light-weight pelvis exoskeleton controlled in zero-torque mode while carrying out unperturbed locomotion and managing unexpected perturbations. Results showed that the proposed exoskeleton was unobtrusive and had a minimum loading effect on the human biomechanics during unperturbed locomotion. Conversely, it affected the movement of the trailing leg while subjects managed unexpected slipping-like perturbations. These findings support further investigations on the potential use of powered exoskeletons to assist locomotion and, possibly prevent incipient falls.

Original languageEnglish
Pages (from-to)1317-1330
Number of pages14
JournalRobotica
Volume32
Issue number8
DOIs
Publication statusPublished - Dec 12 2014

Fingerprint

Biomechanics
Torque control
Locomotion
Torque
Accidents
Recovery
Zero
Perturbation
Elderly People
Disorder

Keywords

  • Exoskeletons
  • Man-machine systems
  • Perturbation
  • Rehabilitation
  • Walking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Software
  • Mathematics(all)

Cite this

The effects on biomechanics of walking and balance recovery in a novel pelvis exoskeleton during zero-torque control. / Martelli, Dario; Vannetti, Federica; Cortese, Mario; Tropea, Peppino; Giovacchini, Francesco; Micera, Silvestro; Monaco, Vito; Vitiello, Nicola.

In: Robotica, Vol. 32, No. 8, 12.12.2014, p. 1317-1330.

Research output: Contribution to journalArticle

Martelli, Dario ; Vannetti, Federica ; Cortese, Mario ; Tropea, Peppino ; Giovacchini, Francesco ; Micera, Silvestro ; Monaco, Vito ; Vitiello, Nicola. / The effects on biomechanics of walking and balance recovery in a novel pelvis exoskeleton during zero-torque control. In: Robotica. 2014 ; Vol. 32, No. 8. pp. 1317-1330.
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