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 language | English |
|---|---|
| Title of host publication | Biosystems and Biorobotics |
| Publisher | Springer International Publishing |
| Pages | 304-308 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - Jan 1 2019 |
Publication series
| Name | Biosystems and Biorobotics |
|---|---|
| Volume | 22 |
| ISSN (Print) | 2195-3562 |
| ISSN (Electronic) | 2195-3570 |
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ASJC Scopus subject areas
- Biomedical Engineering
- Mechanical Engineering
- Artificial Intelligence
Cite this
Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller. / 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.
Biosystems and Biorobotics. Springer International Publishing, 2019. p. 304-308 (Biosystems and Biorobotics; Vol. 22).Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller
AU - Arquilla, M.
AU - Pisotta, I.
AU - Tamburella, F.
AU - Tagliamonte, N. L.
AU - Masciullo, M.
AU - Wu, A. R.
AU - Meijneke, C.
AU - van der Kooij, H.
AU - Ijspeert, A. J.
AU - Molinari, M.
PY - 2019/1/1
Y1 - 2019/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85055029198&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85055029198&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-01887-0_58
DO - 10.1007/978-3-030-01887-0_58
M3 - Chapter
AN - SCOPUS:85055029198
T3 - Biosystems and Biorobotics
SP - 304
EP - 308
BT - Biosystems and Biorobotics
PB - Springer International Publishing
ER -