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

doi:10.1007/978-3-319-46532-6_68

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 proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

1 Downloads (Pure)

Abstract

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 language	English
Title of host publication	Wearable Robotics: Challenges and Trends
Subtitle of host publication	Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain
Editors	Jose Gonzalez-Vargas, Jaime Ibanez, Jose L. Contreras-Vidal, Herman van der Kooij, Jose Luis Pons
Publisher	Springer
Pages	415-419
Number of pages	5
Volume	16
ISBN (Electronic)	978-3-319-46532-6
ISBN (Print)	978-3-319-46531-9
DOIs	https://doi.org/10.1007/978-3-319-46532-6_68
Publication status	Published - 2017
Event	2nd International Symposium on Wearable Robotics, WeRob 2016 - La Granja, Spain Duration: 18 Oct 2016 → 21 Oct 2016 Conference number: 2 http://werob2016.org/

Publication series

Name	Biosystems and Biorobotics
Volume	16
ISSN (Print)	21953562
ISSN (Electronic)	21953570

Conference

Conference	2nd International Symposium on Wearable Robotics, WeRob 2016
Abbreviated title	WeRob
Country/Territory	Spain
City	La Granja
Period	18/10/16 → 21/10/16
Internet address	http://werob2016.org/

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10.1007/978-3-319-46532-6_68

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Emmens, A., Pisotta, I., Masciullo, M., van Asseldonk, E., & van der Kooij, H. (2017). Improving the standing balance of people with spinal cord injury through the use of a powered ankle-foot orthosis. In J. Gonzalez-Vargas, J. Ibanez, J. L. Contreras-Vidal, H. van der Kooij, & J. L. Pons (Eds.), Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain (Vol. 16, pp. 415-419). (Biosystems and Biorobotics; Vol. 16). Springer. https://doi.org/10.1007/978-3-319-46532-6_68

Emmens, Amber ; Pisotta, Iolanda ; Masciullo, Marcella et al. / Improving the standing balance of people with spinal cord injury through the use of a powered ankle-foot orthosis. Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. editor / Jose Gonzalez-Vargas ; Jaime Ibanez ; Jose L. Contreras-Vidal ; Herman van der Kooij ; Jose Luis Pons. Vol. 16 Springer, 2017. pp. 415-419 (Biosystems and Biorobotics).

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

abstract = "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.",

author = "Amber Emmens and Iolanda Pisotta and Marcella Masciullo and {van Asseldonk}, Edwin and {van der Kooij}, Herman",

year = "2017",

doi = "10.1007/978-3-319-46532-6_68",

language = "English",

isbn = "978-3-319-46531-9",

volume = "16",

series = "Biosystems and Biorobotics",

publisher = "Springer",

pages = "415--419",

editor = "Jose Gonzalez-Vargas and Jaime Ibanez and Contreras-Vidal, {Jose L.} and {van der Kooij}, Herman and Pons, {Jose Luis}",

booktitle = "Wearable Robotics: Challenges and Trends",

note = "2nd International Symposium on Wearable Robotics, WeRob 2016, WeRob ; Conference date: 18-10-2016 Through 21-10-2016",

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Emmens, A, Pisotta, I, Masciullo, M, van Asseldonk, E & van der Kooij, H 2017, Improving the standing balance of people with spinal cord injury through the use of a powered ankle-foot orthosis. in J Gonzalez-Vargas, J Ibanez, JL Contreras-Vidal, H van der Kooij & JL Pons (eds), Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. vol. 16, Biosystems and Biorobotics, vol. 16, Springer, pp. 415-419, 2nd International Symposium on Wearable Robotics, WeRob 2016, La Granja, Spain, 18/10/16. https://doi.org/10.1007/978-3-319-46532-6_68

Improving the standing balance of people with spinal cord injury through the use of a powered ankle-foot orthosis. / Emmens, Amber; Pisotta, Iolanda; Masciullo, Marcella et al.
Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. ed. / Jose Gonzalez-Vargas; Jaime Ibanez; Jose L. Contreras-Vidal; Herman van der Kooij; Jose Luis Pons. Vol. 16 Springer, 2017. p. 415-419 (Biosystems and Biorobotics; Vol. 16).

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

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T1 - Improving the standing balance of people with spinal cord injury through the use of a powered ankle-foot orthosis

AU - Emmens, Amber

AU - Pisotta, Iolanda

AU - Masciullo, Marcella

AU - van Asseldonk, Edwin

AU - van der Kooij, Herman

N1 - Conference code: 2

PY - 2017

Y1 - 2017

N2 - 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.

AB - 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.

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DO - 10.1007/978-3-319-46532-6_68

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SN - 978-3-319-46531-9

VL - 16

T3 - Biosystems and Biorobotics

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BT - Wearable Robotics: Challenges and Trends

A2 - Gonzalez-Vargas, Jose

A2 - Ibanez, Jaime

A2 - Contreras-Vidal, Jose L.

A2 - van der Kooij, Herman

A2 - Pons, Jose Luis

PB - Springer

T2 - 2nd International Symposium on Wearable Robotics, WeRob 2016

Y2 - 18 October 2016 through 21 October 2016

ER -

Emmens A, Pisotta I, Masciullo M, van Asseldonk E , van der Kooij H. Improving the standing balance of people with spinal cord injury through the use of a powered ankle-foot orthosis. In Gonzalez-Vargas J, Ibanez J, Contreras-Vidal JL, van der Kooij H, Pons JL, editors, Wearable Robotics: Challenges and Trends: Proceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain. Vol. 16. Springer. 2017. p. 415-419. (Biosystems and Biorobotics). doi: 10.1007/978-3-319-46532-6_68

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

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