Assisting Human Balance in Standing With a Robotic Exoskeleton

Ildar Farkhatdinov (Corresponding Author), Julia Ebert, Gijs Van Oort, Mark Vlutters, Edwin Van Asseldonk, Etienne Burdet

Research output: Contribution to journalArticleAcademicpeer-review

4 Citations (Scopus)

Abstract

This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Trials with and without exoskeleton assistance to move the stepping legs thigh were conducted to investigate the influence of the exoskeletons control assistance on balancing performance and a potential adaptation. Analysis of the body kinematics and muscle activation demonstrates that robotic assistance: first, was easy to use and did not require learning, nor inhibited the healthy stepping behavior; second, it modified the stepping leg trajectories by increasing hip and knee movement; third, increased reaction speed and decreased the step duration; and finally, generally increased biceps femoris and rectus femoris muscle activity.

Original languageEnglish
Article number8600354
Pages (from-to)414-421
Number of pages8
JournalIEEE Robotics and automation letters
Volume4
Issue number2
Early online date3 Jan 2019
DOIs
Publication statusPublished - Apr 2019

Fingerprint

Muscle
Robotics
Recovery
Balancing
Impulse
Activation
Experimental Study
Kinematics
Robot
Chemical activation
Trajectories
Robots
Trajectory
Perturbation
Demonstrate
Human
Exoskeleton (Robotics)
Influence
Movement
Learning

Keywords

  • human performance augmentation
  • physically assistive devices
  • Prosthetics and exoskeletons

Cite this

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title = "Assisting Human Balance in Standing With a Robotic Exoskeleton",
abstract = "This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Trials with and without exoskeleton assistance to move the stepping legs thigh were conducted to investigate the influence of the exoskeletons control assistance on balancing performance and a potential adaptation. Analysis of the body kinematics and muscle activation demonstrates that robotic assistance: first, was easy to use and did not require learning, nor inhibited the healthy stepping behavior; second, it modified the stepping leg trajectories by increasing hip and knee movement; third, increased reaction speed and decreased the step duration; and finally, generally increased biceps femoris and rectus femoris muscle activity.",
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Assisting Human Balance in Standing With a Robotic Exoskeleton. / Farkhatdinov, Ildar (Corresponding Author); Ebert, Julia; Van Oort, Gijs; Vlutters, Mark; Van Asseldonk, Edwin; Burdet, Etienne.

In: IEEE Robotics and automation letters, Vol. 4, No. 2, 8600354, 04.2019, p. 414-421.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - Assisting Human Balance in Standing With a Robotic Exoskeleton

AU - Farkhatdinov, Ildar

AU - Ebert, Julia

AU - Van Oort, Gijs

AU - Vlutters, Mark

AU - Van Asseldonk, Edwin

AU - Burdet, Etienne

PY - 2019/4

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AB - This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Trials with and without exoskeleton assistance to move the stepping legs thigh were conducted to investigate the influence of the exoskeletons control assistance on balancing performance and a potential adaptation. Analysis of the body kinematics and muscle activation demonstrates that robotic assistance: first, was easy to use and did not require learning, nor inhibited the healthy stepping behavior; second, it modified the stepping leg trajectories by increasing hip and knee movement; third, increased reaction speed and decreased the step duration; and finally, generally increased biceps femoris and rectus femoris muscle activity.

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