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Position Sensing and Control with FMG Sensors for Exoskeleton Physical Assistance Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Integrating Posture Control in Assistive Robotic Devices to Support Standing Balance

Authors : T. Mergner, V. Lippi

Published in: Wearable Robotics: Challenges and Trends

Publisher: Springer International Publishing

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Abstract

To date, exoskeletons typically only allow paraplegic users to stand or walk quadruped-like with crutches to maintain balance. The problem with today’s robotic assistive devices that are supporting or restituting stance and walking in paraplegic users is inadequate posture control, which endangers balance and increases the likelihood of a fall occurring. We address this issue in this Methods article by describing the posture-movement interrelations in humans, suggesting the inclusion of posture control in assistive robotic devices, and recommending their experimental testing prior to application for biped use.

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previous chapter Exoskeleton Controller and Design Considerations: Effect on Training Response for Persons with SCI
next chapter A Computational Framework for Muscle-Level Control of Bi-lateral Robotic Ankle Exoskeletons
Literature
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2.
Torricelli, D., Gonzalez-Vargas, J., Veneman, J.F., Mombaur, K., Tsagarakis, N., del-Ama, A.J., et al.: Benchmarking bipedal locomotion: a unified scheme for humanoids, wearable robots and humans. IEEE Rob. Autom. Mag. 22, 103–115 (2015)CrossRef
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Mergner, T., Lippi, V.: Posture control - Human-inspired approaches for humanoid robot benchmarking: Conceptualizing tests, protocols and analyses. Front. Neurorobotics 12, 21 (2018)CrossRef
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Mergner, T.: A neurological view on reactive human stance control. Annu. Rev. Control 34, 77–198 (2010)CrossRef
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Hettich, G., Assländer, L., Gollhofer, A., Mergner, T.: Human hip-ankle coordination emerging from multisensory feedback control. Hum. Mov. Sci. 37, 123–146 (2014)CrossRef
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Lippi, V., Mergner, T.: Human-derived disturbance estimation and compensation (DEC) method lends itself to a modular sensorimotor control in a humanoid robot. Front. Neurorobotics 11, 49 (2017)CrossRef
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Ott, C., et al.: Good posture, good balance: comparison of bioinspired and model-based approaches for posture control of humanoid robots. IEEE Robot. Autom. Mag. 23(1), 22–33 (2016)CrossRef
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Mergner, T., Peterka, R.J.: Human sense of balance. In: Goswami, A., Vadakkepat, P. (eds.) Humanoid Robotics: A Reference, pp 1–38. Springer, Dordrecht (2017)
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Zebenay, M., Lippi, V., Mergner, T.: Human-like humanoid robot posture control. In: 2015 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO), vol. 2, pp. 304–309. IEEE (2015)
Metadata
Title
Integrating Posture Control in Assistive Robotic Devices to Support Standing Balance
Authors
T. Mergner
V. Lippi
Copyright Year
2019
Book
Wearable Robotics: Challenges and Trends

Print ISBN: 978-3-030-01886-3

Electronic ISBN: 978-3-030-01887-0

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-030-01887-0_61