TY - GEN
T1 - Complementary limb motion estimation based on interjoint coordination using principal components analysis
AU - Vallery, Heike
AU - Buss, Martin
PY - 2007
Y1 - 2007
N2 - For the restitution of walking of a hemiplegic patient by means of a motorized orthosis, as well as in intelligent prosthetics, a major challenge is the coordination of healthy and robotically assisted limbs. The approach suggested here employs the method of Principal Components Analysis to first analyze the coupling of human Degrees of Freedom (DoFs) in healthy subjects. Based on this knowledge, adequate motion for inoperable DoFs in impaired patients is estimated on-line from sound limb motion. Thus, the intention of a partially paralyzed person or an amputee can be deduced from residual body motion, in order to coordinately actuate or supervise the impaired limbs. To evaluate the approach, simulations with recorded gait trajectories of healthy subjects are performed. The results of these theoretical investigations show a promising potential.
AB - For the restitution of walking of a hemiplegic patient by means of a motorized orthosis, as well as in intelligent prosthetics, a major challenge is the coordination of healthy and robotically assisted limbs. The approach suggested here employs the method of Principal Components Analysis to first analyze the coupling of human Degrees of Freedom (DoFs) in healthy subjects. Based on this knowledge, adequate motion for inoperable DoFs in impaired patients is estimated on-line from sound limb motion. Thus, the intention of a partially paralyzed person or an amputee can be deduced from residual body motion, in order to coordinately actuate or supervise the impaired limbs. To evaluate the approach, simulations with recorded gait trajectories of healthy subjects are performed. The results of these theoretical investigations show a promising potential.
UR - http://www.scopus.com/inward/record.url?scp=43049162331&partnerID=8YFLogxK
U2 - 10.1109/CCA.2006.285972
DO - 10.1109/CCA.2006.285972
M3 - Conference contribution
AN - SCOPUS:43049162331
SN - 0780397959
SN - 9780780397958
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 933
EP - 938
BT - Proceedings of the 2006 IEEE International Conference on Control Applications
T2 - Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Y2 - 4 October 2006 through 6 October 2006
ER -
