User-safe orthosis based on compliant actuators: Mechanical design and control framework

G.V. Durandau, Wael Suleiman

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

3 Citations (Scopus)
2 Downloads (Pure)

Abstract

This paper deals with designing, developing and building one degree of freedom orthosis based on an active compliant actuator. To know human's intentions and the desired movements beforehand, we opted for electromyogram (EMG) signals collected by surface electrodes. Processing the EMG signals and controlling the orthosis are integrated into a unified framework that combine OpenSim and Robotic Operating System (ROS) frameworks, the developed unified framework would be also particularly useful for more complex orthosis. The proposed control framework has been successfully used to dynamically compensate the gravity and assist the orthosis user.
Original languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)
PublisherIEEE
ISBN (Electronic)978-4-907764-50-0
ISBN (Print)978-1-5090-0937-4
DOIs
Publication statusPublished - 21 Oct 2016
Externally publishedYes
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 2016 - Tsukuba International Congress Center, Tsukuba, Japan
Duration: 20 Sep 201623 Sep 2016
Conference number: 55
http://www.sice.or.jp/sice2016/

Conference

Conference55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 2016
Abbreviated titleSICE 2016
CountryJapan
CityTsukuba
Period20/09/1623/09/16
Internet address

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  • Cite this

    Durandau, G. V., & Suleiman, W. (2016). User-safe orthosis based on compliant actuators: Mechanical design and control framework. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) IEEE. https://doi.org/10.1109/SICE.2016.7749223