ALICE: Conceptual development of a lower limb exoskeleton robot driven by an on-board musculoskeletal simulator

Vista sencilla de ítem
dc.contributor.authorCardona, Manuel
dc.contributor.authorGarcía Cena, Cecilia E.
dc.contributor.authorSerrano, Fernando
dc.contributor.authorSaltaren, Roque
dc.date.accessioned2020-09-17T21:47:27Z
dc.date.available2020-09-17T21:47:27Z
dc.date.issued2020-01
dc.description.abstractIn this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient. es
dc.format.extent20 p.es
dc.format.mimetypeapplication/pdfes
dc.identifier.citationCardona, M., García Cena, C. E., Serrano, F., y Saltaren, R. (2020). ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator. Sensors, 20(3), 789. https://doi.org/10.3390/s20030789es
dc.identifier.urihttp://hdl.handle.net/11715/2362
dc.language.isospaes
dc.rightsUniversidad Don Boscoes
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesses
dc.subjectAdaptive Controles
dc.subjectExoskeleton Robotes
dc.subjectMuscle Driven Simulatores
dc.subjectQuaternionses
dc.subjectRehabilitationes
dc.titleALICE: Conceptual development of a lower limb exoskeleton robot driven by an on-board musculoskeletal simulatores
dc.typeinfo:eu-repo/semantics/articlees
dc.type.versioninfo:eu-repo/semantics/publishedVersiones
Archivos
Bloque original
Mostrando1 - 1 de 1
Miniatura
Nombre:
1. ALICE Conceptual Development of a Lower Limb Manuel Cardona 2020.pdf
Tamaño:
4.69 MB
Formato:
Adobe Portable Document Format
Descripción:
Descargar
Bloque de licencias
Mostrando1 - 1 de 1
Miniatura
Nombre:
license.txt
Tamaño:
1.71 KB
Formato:
Item-specific license agreed upon to submission
Descripción:
Descargar
Colecciones
Producción científica de la Universidad Don Bosco