Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller

M. Arquilla, I. Pisotta, F. Tamburella, N. L. Tagliamonte, M. Masciullo, A. R. Wu, C. Meijneke, H. van der Kooij, A. J. Ijspeert, M. Molinari

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

Abstract

This work was devoted to preliminary test the Achilles ankle exoskeleton and its NeuroMuscular Controller (NMC) with a test pilot affected by incomplete spinal cord injury. The customization of the robot controller, i.e. a subject-specific tailoring of the assistance level, was performed and a 10-session training to optimize human-robot interaction was finalized. Results demonstrated that controller tuning was in line with the functional clinical assessment. NMC adapted to the variable walking speed during the training and the test pilot was successfully trained in exploiting robotic support and also improved his performance in terms of walking speed and stability. After the training, a higher speed could also be achieved during free walking and hence a slight unexpected rehabilitation effect was evidenced.

Original languageEnglish
Title of host publicationWearable Robotics
Subtitle of host publicationchallenges and trends
PublisherSpringer
Pages304-308
Number of pages5
ISBN (Electronic)978-3-030-01887-0
ISBN (Print)978-3-030-01886-3
DOIs
Publication statusPublished - 1 Jan 2019

Publication series

NameBiosystems and Biorobotics
Volume22
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

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Controllers
Human robot interaction
Patient rehabilitation
Robotics
Tuning
Robots

Cite this

Arquilla, M., Pisotta, I., Tamburella, F., Tagliamonte, N. L., Masciullo, M., Wu, A. R., ... Molinari, M. (2019). Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller. In Wearable Robotics: challenges and trends (pp. 304-308). (Biosystems and Biorobotics; Vol. 22). Springer. https://doi.org/10.1007/978-3-030-01887-0_58
Arquilla, M. ; Pisotta, I. ; Tamburella, F. ; Tagliamonte, N. L. ; Masciullo, M. ; Wu, A. R. ; Meijneke, C. ; van der Kooij, H. ; Ijspeert, A. J. ; Molinari, M. / Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller. Wearable Robotics: challenges and trends. Springer, 2019. pp. 304-308 (Biosystems and Biorobotics).
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Arquilla, M, Pisotta, I, Tamburella, F, Tagliamonte, NL, Masciullo, M, Wu, AR, Meijneke, C, van der Kooij, H, Ijspeert, AJ & Molinari, M 2019, Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller. in Wearable Robotics: challenges and trends. Biosystems and Biorobotics, vol. 22, Springer, pp. 304-308. https://doi.org/10.1007/978-3-030-01887-0_58

Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller. / Arquilla, M.; Pisotta, I.; Tamburella, F.; Tagliamonte, N. L.; Masciullo, M.; Wu, A. R.; Meijneke, C.; van der Kooij, H.; Ijspeert, A. J.; Molinari, M.

Wearable Robotics: challenges and trends. Springer, 2019. p. 304-308 (Biosystems and Biorobotics; Vol. 22).

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

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Arquilla M, Pisotta I, Tamburella F, Tagliamonte NL, Masciullo M, Wu AR et al. Walking assistance of subjects with spinal cord injury with an ankle exoskeleton and neuromuscular controller. In Wearable Robotics: challenges and trends. Springer. 2019. p. 304-308. (Biosystems and Biorobotics). https://doi.org/10.1007/978-3-030-01887-0_58