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ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Name: ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator
Keywords: Article, adaptive control, exoskeleton robot, muscle driven simulator, quaternions, rehabilitation, Exoskeleton Device, Humans, Lower Extremity, Middle Aged

descriptionPublicationkeyboard_double_arrow_right Article 31 Jan 2020 English Sensors (Basel, Switzerland), volume 20, issue 3 (eissn: 1424-8220,

Manuel Cardona; Cecilia E. Garcia Cena; Fernando E. Serrano; Roque Saltaren;

doi: 10.3390/s20030789

pmc: PMC7038445

pmid: 32023988

handle: 10261/219320

ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

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Abstract

Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.

Peer reviewed

Countries

El Salvador, Spain

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Subjects by Vocabulary

Library of Congress Subject Headings: lcsh:Chemical technology lcsh:TP1-1185

Microsoft Academic Graph classification: Exoskeleton Lower limb Kinematics Artificial intelligence business.industry business Wearable computer Gait (human) Alice (programming language) computer.programming_language computer Rehabilitation medicine.medical_treatment medicine Simulation Actuator Adaptive control Inertial frame of reference Computer science Gait Robotics Pathological gait

ACM Computing Classification System: ComputingMethodologies_COMPUTERGRAPHICS ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION

Keywords

Article, adaptive control, exoskeleton robot, muscle driven simulator, quaternions, rehabilitation, Exoskeleton Device, Humans, Lower Extremity, Middle Aged, Musculoskeletal Physiological Phenomena, Robotics, Wearable Electronic Devices, Adaptive control, Exoskeleton robot, Muscle driven simulator, Quaternions, Electrical and Electronic Engineering, Biochemistry, Instrumentation, Atomic and Molecular Physics, and Optics, Analytical Chemistry

48 references, page 1 of 5

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	citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	16
	popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.	Average
	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Average
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average

Usage byUsageCounts

visibility	views	20
download	downloads	56

	citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	16
	popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.	Average
	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Average
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average