Improving the standing balance of people with spinal cord injury through the use of a powered ankle-foot orthosis

Amber Emmens*, Iolanda Pisotta, Marcella Masciullo, Edwin van Asseldonk, Herman van der Kooij

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)
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    In this study, our goal was to improve the standing balance of people with a Spinal Cord Injury (SCI) by using a powered Ankle-Foot orthosis acting in the sagittal plane. We tested four different controllers on two SCI subjects that have a lesion at a low level. In the experiments the subjects repeatedly had to recover from pelvis perturbations, while receiving ankle assistive torques from the orthosis. We found that the controllers that use centroidal dynamics as input parameters were able to provide proper support to the subjects after a perturbation had been applied, even though they worked against the subjects after they had recovered from the perturbation. These preliminary results show the potential of balancing controllers that operate in Center of Mass-space.

    Original languageEnglish
    Title of host publicationWearable Robotics: Challenges and Trends
    Subtitle of host publicationProceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain
    EditorsJose Gonzalez-Vargas, Jaime Ibanez, Jose L. Contreras-Vidal, Herman van der Kooij, Jose Luis Pons
    Number of pages5
    ISBN (Electronic)978-3-319-46532-6
    ISBN (Print)978-3-319-46531-9
    Publication statusPublished - 2017
    Event2nd International Symposium on Wearable Robotics, WeRob 2016 - La Granja, Spain
    Duration: 18 Oct 201621 Oct 2016
    Conference number: 2

    Publication series

    NameBiosystems and Biorobotics
    ISSN (Print)21953562
    ISSN (Electronic)21953570


    Conference2nd International Symposium on Wearable Robotics, WeRob 2016
    Abbreviated titleWeRob
    CityLa Granja
    Internet address

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