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Online Assessment of Human-Robot Interaction for Hybrid Control of Walking

Author(s): Antonio J. del-Ama | Juan C. Moreno | Ángel Gil-Agudo | Ana de-los-Reyes | José L. Pons

Journal: Sensors
ISSN 1424-8220

Volume: 12;
Issue: 1;
Start page: 215;
Date: 2011;
Original page

Keywords: human-robot interaction | hybrid control | gait | exoskeleton | functional electrical stimulation | muscle fatigue

Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid) approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.
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