A Paradigm for the Control of Upright Standing in Paraplegic Patients

Jovana Jovic 1 Vincent Bonnet 2 Christine Azevedo Coste 1 Philippe Fraisse 1
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The objective of this paper is to present a new paradigm in control strategy for unsupported paraplegic standing, based on closed-loop control of paraplegics' lower extremities. The main advantage of our approach is taking into account voluntary motions of the upper-part of the body by controlling Center of Mass (CoM) position. The validity of our approach is tested, in computer simulations, using human CoM trajectories estimated from experimental data and by applying perturbations in simulation during quiet standing in order to simulated voluntary upper body movements. From the results presented in this study it can be seen that controller is able to track desired CoM position with satisfied precision and to maintain stability even in the presence of movements in upper part of the model.
Type de document :
Communication dans un congrès
EMBC: Engineering in Medicine and Biology Conference, Aug 2012, San Diego, United States. 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.325-328, 2012, Engineering Innovation in Global Health. 〈http://embc2012.embs.org/〉. 〈10.1109/EMBC.2012.6345935〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00725204
Contributeur : Jovana Jovic <>
Soumis le : vendredi 24 août 2012 - 11:32:36
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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Jovana Jovic, Vincent Bonnet, Christine Azevedo Coste, Philippe Fraisse. A Paradigm for the Control of Upright Standing in Paraplegic Patients. EMBC: Engineering in Medicine and Biology Conference, Aug 2012, San Diego, United States. 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.325-328, 2012, Engineering Innovation in Global Health. 〈http://embc2012.embs.org/〉. 〈10.1109/EMBC.2012.6345935〉. 〈lirmm-00725204〉

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