title: Online assessment of human-robot interaction for hybrid control of walking.
abstract: 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.
authors.affiliation: Biomechanics and Technical Aids Department, National Hospital for Spinal Cord Injury, Finca La Peraleda S/N, Toledo 45007, Spain. ajdela@sescam.jccm.es
authors.forename: Antonio J
authors.initials: AJ
authors.lastname: del-Ama
authors.forename: Juan C
authors.initials: JC
authors.lastname: Moreno
authors.forename: Angel
authors.initials: A
authors.lastname: Gil-Agudo
authors.forename: Ana
authors.initials: A
authors.lastname: de-los-Reyes
authors.forename: José L
authors.initials: JL
authors.lastname: Pons
mesh_terms: D001696:Biomechanical Phenomena / Q000502:physiology; D020342:Finite Element Analysis; D006801:Humans; D007719:Knee Joint / Q000503:physiopathology; D016014:Linear Models; D008328:Man-Machine Systems; D018763:Muscle Fatigue / Q000502:physiology; D009862:Online Systems; D009989:Orthotic Devices; D012371:Robotics / Q000295:instrumentation*; D019415:Torque; D016138:Walking / Q000502:physiology*