An Assistive Approach Based on Technology Embodiment Lora Millán, Julio Salvador. creator author. aut http://id.loc.gov/vocabulary/relators/aut SpringerLink (Online service) text sz 2024 1st ed. 2024. monographic eng

electronic

electronic resource

access XXV, 138 p. 70 illus., 68 illus. in color. online resource. 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. 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. by Julio Salvador Lora Millán. Control engineering Robotics Automation Biomedical engineering Control, Robotics, Automation Biomedical Devices and Instrumentation TJ212-225 TJ210.2-211.495 9783031576164 https://doi.org/10.1007/978-3-031-57616-4 https://doi.org/10.1007/978-3-031-57616-4 240605 20251030112300.0 978-3-031-57616-4