03416nam a22004695i 4500001001800000003000900018005001700027007001500044008004100059020001800100024003500118050001400153050002000167072001700187072002300204072001600227100009200243245020200335250001800537264006900555300006500624336002600689337002600715338003600741347002400777490007200801505028900873520133601162650002502498650001402523650001602537650002802553650003502581650004402616710003402660773002602694776003602720776003602756776003602792830007202828856004602900978-3-031-57616-4DE-He21320251030112300.0cr nn 008mamaa240605s2024    sz |    s    |||| 0|eng d  a97830315761647 a10.1007/978-3-031-57616-42doi 4aTJ212-225 4aTJ210.2-211.495 7aTJFM2bicssc 7aTEC0070002bisacsh 7aTJFM2thema1 aLora Millán, Julio Salvador.eauthor.4aut4http://id.loc.gov/vocabulary/relators/aut10aControl Strategies for Robotic Exoskeletons to Assist Post-Stroke Hemiparetic Gaith[electronic resource] :bAn Assistive Approach Based on Technology Embodiment /cby Julio Salvador Lora Millán.  a1st ed. 2024. 1aCham :bSpringer Nature Switzerland :bImprint: Springer,c2024.  aXXV, 138 p. 70 illus., 68 illus. in color.bonline resource.  atextbtxt2rdacontent  acomputerbc2rdamedia  aonline resourcebcr2rdacarrier  atext filebPDF2rda1 aSpringer Theses, Recognizing Outstanding Ph.D. Research,x2190-50610 aIntroduction to healthy and post-stroke gait and robotic gait assistance -- Control paradigm for unilateral robotic exoskeletons to assist hemiparetic gait -- The REFLEX exoskeleton -- Evaluation of REFLEX assistance embodiment in stroke patients -- Conclusions and future directions.  aThis book presents a new framework to improve the integration of exoskeletons in hemiparetic patients. The idea is to reduce potentially damaging compensatory strategies in the non-paretic leg, by ensuring a proper technology embodiment of the robotic exoskeletons in the nervous system. Upon reviewing control strategies for partial robotic exoskeletons applied to human gait, the book introduces robotic exoskeletons control algorithms, which were developed with the intention to promote gait symmetry by assisting the affected limb of hemiparetic patients according to the movement of the non-paretic leg. This new paradigm aimed at promoting the device's embodiment was expected to counteract the compensation mechanisms, which would become unnecessary and thus disappear. The control strategy relies on the gait phase estimation of the sound leg calculated using an adaptive frequency oscillator and was evaluated on post-stroke patients affected by hemiparetic gait, and the results are described in this book. All in all, this book offers a timely snapshot on control strategies for post-stroke robotic gait assistance. It also presents new findings concerning the role of robotic controllers in the embodiment of such devices, and their implications for new assistance paradigms for people with neurological gait disorders. 0aControl engineering. 0aRobotics. 0aAutomation. 0aBiomedical engineering.14aControl, Robotics, Automation.24aBiomedical Devices and Instrumentation.2 aSpringerLink (Online service)0 tSpringer Nature eBook08iPrinted edition:z978303157615708iPrinted edition:z978303157617108iPrinted edition:z9783031576188 0aSpringer Theses, Recognizing Outstanding Ph.D. Research,x2190-506140uhttps://doi.org/10.1007/978-3-031-57616-4