Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training

Herman van der Kooij; Bram Koopman; Edwin H.F. van Asseldonk

doi:10.1109/IEMBS.2008.4649574

Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training

Herman van der Kooij, Bram Koopman, Edwin H.F. van Asseldonk

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

20 Citations (Scopus)

Abstract

The feasibility of an alternative method to support body weight in a powered exoskeleton is demonstrated. Instead of using an overhead suspension system, body weight is supported by augmenting the joint moments through virtual model control. The advantages of this novel method is that it allows for independent support of the left and right leg, and does not interfere with the excitation of cutanous afferents and balance of the body or trunk. Results show that after a short familiarization period the activity of muscles during initial stance reduces and kinematics become close to normal.

Original language	English
Title of host publication	EMBS 2008
Subtitle of host publication	30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Publisher	IEEE
Pages	1969-1972
Number of pages	4
ISBN (Electronic)	978-1-4244-1815-2
ISBN (Print)	978-1-4244-1814-5
DOIs	https://doi.org/10.1109/IEMBS.2008.4649574
Publication status	Published - 20 Aug 2008
Event	30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2008 - Vancouver, Canada Duration: 20 Aug 2008 → 25 Aug 2008 Conference number: 30

Publication series

Name	IEEE Engineering in Medicine and Biology Society Conference Proceedings
Publisher	IEEE
ISSN (Print)	1557-170X

Conference

Conference	30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2008
Abbreviated title	EMBC
Country	Canada
City	Vancouver
Period	20/08/08 → 25/08/08

Keywords

METIS-254628

Access to Document

10.1109/IEMBS.2008.4649574

Cite this

van der Kooij, H., Koopman, B., & van Asseldonk, E. H. F. (2008). Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training. In EMBS 2008: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (pp. 1969-1972). [4649574] (IEEE Engineering in Medicine and Biology Society Conference Proceedings). IEEE. https://doi.org/10.1109/IEMBS.2008.4649574

van der Kooij, Herman ; Koopman, Bram ; van Asseldonk, Edwin H.F. / Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training. EMBS 2008: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 2008. pp. 1969-1972 (IEEE Engineering in Medicine and Biology Society Conference Proceedings).

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title = "Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training",

abstract = "The feasibility of an alternative method to support body weight in a powered exoskeleton is demonstrated. Instead of using an overhead suspension system, body weight is supported by augmenting the joint moments through virtual model control. The advantages of this novel method is that it allows for independent support of the left and right leg, and does not interfere with the excitation of cutanous afferents and balance of the body or trunk. Results show that after a short familiarization period the activity of muscles during initial stance reduces and kinematics become close to normal.",

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van der Kooij, H, Koopman, B & van Asseldonk, EHF 2008, Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training. in EMBS 2008: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society., 4649574, IEEE Engineering in Medicine and Biology Society Conference Proceedings, IEEE, pp. 1969-1972, 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2008, Vancouver, Canada, 20/08/08. https://doi.org/10.1109/IEMBS.2008.4649574

Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training. / van der Kooij, Herman; Koopman, Bram; van Asseldonk, Edwin H.F.

EMBS 2008: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 2008. p. 1969-1972 4649574 (IEEE Engineering in Medicine and Biology Society Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N1 - Conference code: 30

PY - 2008/8/20

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N2 - The feasibility of an alternative method to support body weight in a powered exoskeleton is demonstrated. Instead of using an overhead suspension system, body weight is supported by augmenting the joint moments through virtual model control. The advantages of this novel method is that it allows for independent support of the left and right leg, and does not interfere with the excitation of cutanous afferents and balance of the body or trunk. Results show that after a short familiarization period the activity of muscles during initial stance reduces and kinematics become close to normal.

AB - The feasibility of an alternative method to support body weight in a powered exoskeleton is demonstrated. Instead of using an overhead suspension system, body weight is supported by augmenting the joint moments through virtual model control. The advantages of this novel method is that it allows for independent support of the left and right leg, and does not interfere with the excitation of cutanous afferents and balance of the body or trunk. Results show that after a short familiarization period the activity of muscles during initial stance reduces and kinematics become close to normal.

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van der Kooij H, Koopman B, van Asseldonk EHF. Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training. In EMBS 2008: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE. 2008. p. 1969-1972. 4649574. (IEEE Engineering in Medicine and Biology Society Conference Proceedings). https://doi.org/10.1109/IEMBS.2008.4649574

Body weight support by virtual model of an impedance controlled exoskeleton (LOPES) for gait training

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