Towards behavioral based sensorimotor controller design for wearable soft exoskeletal applications

Imran Mahmood, Uriel Martinez Hernandez, Abbas A. Dehghani-Sanij

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)
45 Downloads (Pure)

Abstract

This study presents the assessment of ankle-foot gait abnormalities and estimation of neuromuscular control for maintaining gait dynamic stability and avoid falls. Control signals are modelled as the rate of change in the body COM acceleration as an input and the COP velocity as an output. Experiments show that the toe foot condition is least stable than inverted and normal walk at loading phase. However, the overdamped motor output response, equally stable for the three undamped input instabilities, shows the robustness of our proposed motor controller. Results show that our novel neuromotor inspired controller, based on behavioral I/O signals, is robust and suitable for the assessment of exoskeletal stability and control of wearable soft robotic applications.
Original languageEnglish
Title of host publicationConverging Clinical and Engineering Research on Neurorehabilitation II
PublisherSpringer
Pages1281-1286
Number of pages6
ISBN (Print)978-3-319-46668-2
DOIs
Publication statusPublished - 1 Jun 2017

Publication series

NameBiosystems and Biorobotics
PublisherSpringer
Volume15

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  • Cite this

    Mahmood, I., Martinez Hernandez, U., & Dehghani-Sanij, A. A. (2017). Towards behavioral based sensorimotor controller design for wearable soft exoskeletal applications. In Converging Clinical and Engineering Research on Neurorehabilitation II (pp. 1281-1286). (Biosystems and Biorobotics; Vol. 15). Springer. https://doi.org/10.1007/978-3-319-46669-9_209