Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller

M. Arquilla, I. Pisotta, F. Tamburella, N. L. Tagliamonte, M. Masciullo, A. R. Wu, C. Meijneke, H. van der Kooij, A. J. Ijspeert, M. Molinari

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This work was devoted to preliminary test the Achilles ankle exoskeleton and its NeuroMuscular Controller (NMC) with a test pilot affected by incomplete spinal cord injury. The customization of the robot controller, i.e. a subject-specific tailoring of the assistance level, was performed and a 10-session training to optimize human-robot interaction was finalized. Results demonstrated that controller tuning was in line with the functional clinical assessment. NMC adapted to the variable walking speed during the training and the test pilot was successfully trained in exploiting robotic support and also improved his performance in terms of walking speed and stability. After the training, a higher speed could also be achieved during free walking and hence a slight unexpected rehabilitation effect was evidenced.

Original languageEnglish
Title of host publicationBiosystems and Biorobotics
PublisherSpringer International Publishing
Pages304-308
Number of pages5
DOIs
Publication statusPublished - Jan 1 2019

Publication series

NameBiosystems and Biorobotics
Volume22
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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    Arquilla, M., Pisotta, I., Tamburella, F., Tagliamonte, N. L., Masciullo, M., Wu, A. R., Meijneke, C., van der Kooij, H., Ijspeert, A. J., & Molinari, M. (2019). Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller. In Biosystems and Biorobotics (pp. 304-308). (Biosystems and Biorobotics; Vol. 22). Springer International Publishing. https://doi.org/10.1007/978-3-030-01887-0_58