03780nam a22005535i 4500 978-3-031-57616-4 DE-He213 20251030112300.0 cr nn 008mamaa 240605s2024 sz | s |||| 0|eng d 9783031576164 978-3-031-57616-4 10.1007/978-3-031-57616-4 doi TJ212-225 TJ210.2-211.495 TJFM bicssc TEC007000 bisacsh TJFM thema Lora Millán, Julio Salvador. author. aut http://id.loc.gov/vocabulary/relators/aut 78336 Control Strategies for Robotic Exoskeletons to Assist Post-Stroke Hemiparetic Gait [electronic resource] : An Assistive Approach Based on Technology Embodiment / by Julio Salvador Lora Millán. 1st ed. 2024. Cham : Springer Nature Switzerland : Imprint: Springer, 2024. XXV, 138 p. 70 illus., 68 illus. in color. online resource. text txt rdacontent computer c rdamedia online resource cr rdacarrier text file PDF rda Springer Theses, Recognizing Outstanding Ph.D. Research, 2190-5061 Introduction 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. This 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. Control engineering. Robotics. 59148 Automation. 59149 Biomedical engineering. Control, Robotics, Automation. Biomedical Devices and Instrumentation. SpringerLink (Online service) Springer Nature eBook Printed edition: 9783031576157 Printed edition: 9783031576171 Printed edition: 9783031576188 Springer Theses, Recognizing Outstanding Ph.D. Research, 2190-5061 66370 https://doi.org/10.1007/978-3-031-57616-4 ZDB-2-INR ZDB-2-SXIT 60551 60551