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A method for paraplegic upper-body posture estimation during standing: a pilot study for rehabilitation purposes

Gaël Pages 1 Nacim Ramdani 2 Philippe Fraisse 3 David Guiraud 4
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
4 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper presents a contribution for restoring standing in paraplegia while using functional electrical stimulation (FES). Movement generation induced by FES remains mostly open looped and stimulus intensities are tuned empirically. To design an efficient closed-loop control, a preliminary study has been carried out to investigate the relationship between body posture and voluntary upper body movements. A methodology is proposed to estimate body posture in the sagittal plane using force measurements exerted on supporting handles during standing. This is done by setting up constraints related to the geometric equations of a two-dimensional closed chain model and the hand-handle interactions. All measured quantities are subject to an uncertainty assumed unknown but bounded. The set membership estimation problem is solved via interval analysis. Guaranteed uncertainty bounds are computed for the estimated postures. In order to test the feasibility of our methodology, experiments were carried out with complete spinal cord injured patients
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00384983
Contributor : David Guiraud Connect in order to contact the contributor
Submitted on : Monday, May 18, 2009 - 9:13:08 AM
Last modification on : Thursday, August 19, 2021 - 3:17:38 AM

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Gaël Pages, Nacim Ramdani, Philippe Fraisse, David Guiraud. A method for paraplegic upper-body posture estimation during standing: a pilot study for rehabilitation purposes. Medical and Biological Engineering and Computing, Springer Verlag, 2009, 47 (6), pp.625-633. ⟨10.1007/s11517-009-0470-z⟩. ⟨lirmm-00384983⟩

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