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Exoskeleton Design Using Subject-Specific Synergy-Driven Neuromusculoskeletal Models

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Converging Clinical and Engineering Research on Neurorehabilitation IV (ICNR 2020)

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 28))

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Abstract

Most assistive devices available today are unable to improve gait asymmetries due to the lack of knowledge on how to directly enforce kinematic symmetry in the formulation of cost functions. We designed a cost function to potentially target kinematic symmetry, and observed improvements in gait asymmetries specifically at the hip and ankle.

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Acknowledgments

Funding provided by the Cancer Prevention and Research Institute of Texas Grant RR170026, and NSF Graduate Research Fellowship.

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Authors and Affiliations

  1. Mechanical Engineering Department, Rice University, Houston, TX, USA

    Marleny M. Arones & Benjamin J. Fregly

  2. Mechanical Engineering Department, Polytechnic University of Catalonia, Barcelona, Spain

    Josep M. Font-Llagunes

Authors
  1. Marleny M. Arones
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  2. Josep M. Font-Llagunes
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  3. Benjamin J. Fregly
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Corresponding author

Correspondence to Benjamin J. Fregly .

Editor information

Editors and Affiliations

  1. Neural Rehabilitation Group, Cajal Institute, Madrid, Spain

    Diego Torricelli

  2. Department of Biomedical Engineering, University of Houston, Houston, TX, USA

    Metin Akay

  3. Department of Biomedical Engineering, Shirley Ryan AbilityLab, Chicago, IL, USA

    Jose L. Pons

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Arones, M.M., Font-Llagunes, J.M., Fregly, B.J. (2022). Exoskeleton Design Using Subject-Specific Synergy-Driven Neuromusculoskeletal Models. In: Torricelli, D., Akay, M., Pons, J.L. (eds) Converging Clinical and Engineering Research on Neurorehabilitation IV. ICNR 2020. Biosystems & Biorobotics, vol 28. Springer, Cham. https://doi.org/10.1007/978-3-030-70316-5_24

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  • DOI: https://doi.org/10.1007/978-3-030-70316-5_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-70315-8

  • Online ISBN: 978-3-030-70316-5

  • eBook Packages: EngineeringEngineering (R0)

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