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

G.V. Durandau; Wael Suleiman

doi:10.1109/SICE.2016.7749223

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

G.V. Durandau
, Wael Suleiman

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

4 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 language	English
Title of host publication	2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)
Publisher	IEEE
ISBN (Electronic)	978-4-907764-50-0
ISBN (Print)	978-1-5090-0937-4
DOIs	https://doi.org/10.1109/SICE.2016.7749223
Publication status	Published - 21 Oct 2016
Externally published	Yes
Event	55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 2016 - Tsukuba International Congress Center, Tsukuba, Japan Duration: 20 Sept 2016 → 23 Sept 2016 Conference number: 55 http://www.sice.or.jp/sice2016/

Conference

Conference	55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 2016
Abbreviated title	SICE 2016
Country/Territory	Japan
City	Tsukuba
Period	20/09/16 → 23/09/16
Internet address	http://www.sice.or.jp/sice2016/

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10.1109/SICE.2016.7749223

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title = "User-safe orthosis based on compliant actuators: Mechanical design and control framework",

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.",

author = "G.V. Durandau and Wael Suleiman",

year = "2016",

month = oct,

day = "21",

doi = "10.1109/SICE.2016.7749223",

language = "English",

isbn = "978-1-5090-0937-4 ",

booktitle = "2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)",

publisher = "IEEE",

address = "United States",

note = "55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 2016, SICE 2016 ; Conference date: 20-09-2016 Through 23-09-2016",

url = "http://www.sice.or.jp/sice2016/",

}

Durandau, GV & 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, 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 2016, Tsukuba, Japan, 20/09/16. https://doi.org/10.1109/SICE.2016.7749223

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AU - Suleiman, Wael

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PY - 2016/10/21

Y1 - 2016/10/21

N2 - 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.

AB - 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.

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DO - 10.1109/SICE.2016.7749223

M3 - Conference contribution

SN - 978-1-5090-0937-4

BT - 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

PB - IEEE

T2 - 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 2016

Y2 - 20 September 2016 through 23 September 2016

ER -

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

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