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Walking Assistance of Subjects with Spinal Cord Injury with an Ankle Exoskeleton and Neuromuscular Controller

  • M. Arquilla
  • I. Pisotta
  • F. Tamburella
  • N. L. Tagliamonte
  • M. Masciullo
  • A. R. Wu
  • C. Meijneke
  • H. van der Kooij
  • A. J. Ijspeert
  • M. Molinari
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)

Abstract

This work was devoted to preliminary test the Achilles ankle exoskeleton and its NeuroMuscular Controller (NMC) with a test pilot affected by incomplete spinal cord injury. The customization of the robot controller, i.e. a subject-specific tailoring of the assistance level, was performed and a 10-session training to optimize human-robot interaction was finalized. Results demonstrated that controller tuning was in line with the functional clinical assessment. NMC adapted to the variable walking speed during the training and the test pilot was successfully trained in exploiting robotic support and also improved his performance in terms of walking speed and stability. After the training, a higher speed could also be achieved during free walking and hence a slight unexpected rehabilitation effect was evidenced.

References

  1. 1.
    Meijneke, C., van Dijk, W., van der Kooij, H.: Achilles: an autonomous lightweight ankle exoskeleton to provide push-off power. In: 5th IEEE RAS/EMBS BIOROB, Sao Paulo, pp. 918–923 (2014)Google Scholar
  2. 2.
    Wu, A.R., Dzeladini, F., Brug, T.J.H., Tamburella, F., Tagliamonte, N.L., van Asseldonk, E.H.F., van der Kooij, H., Ijspeert, A.J.: An adaptive neuromuscular controller for assistive lower-limb exoskeletons: a preliminary study on subjects with spinal cord injury, Front. Neurorob. 11, 30 (2017)Google Scholar
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    Geyer, H., Herr, H.: A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities. IEEE Trans. Neural Syst. Rehabil. Eng. 18, 263–273 (2010)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • M. Arquilla
    • 1
  • I. Pisotta
    • 1
  • F. Tamburella
    • 1
  • N. L. Tagliamonte
    • 1
  • M. Masciullo
    • 1
  • A. R. Wu
    • 2
  • C. Meijneke
    • 3
  • H. van der Kooij
    • 4
    • 5
  • A. J. Ijspeert
    • 2
  • M. Molinari
    • 1
  1. 1.IRCCS Fondazione Santa Lucia, NeuroRobot LabRomeItaly
  2. 2.École Polytechnique Fédérale de Lausanne, BIOROB LabLausanneSwitzerland
  3. 3.Electronic and Mechanical Support DivisionDelft University of TechnologyDelftThe Netherlands
  4. 4.Biomechatronics and Rehabilitation Technology, Department of Biomechanical EngineeringUniversity of TwenteEnschedeThe Netherlands
  5. 5.Delft University of TechnologyDelftThe Netherlands

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