Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Analyzing Motor Primitives of Healthy Subjects Wearing a Lower Limb Exoskeleton
Submission Author:
Polyana Ferreira Nunes , SP
Co-Authors:
Wilian dos Santos, Samuel Lourenco, Adriano Siqueira, Polyana Ferreira Nunes
Presenter: Polyana Ferreira Nunes
doi://10.26678/ABCM.COBEM2017.COB17-1214
Abstract
The present work aims to evaluate the motor primitives of a person wearing an exoskeleton for lower limbs, and compare them with the primitives of the same person not wearing the robotic device. Exoskeletons are being currently developed by the field of engineering to help physiotherapists in the rehabilitation of individuals with some motor impairment of the lower limbs. Surface electromyography (EMG) signals and joint positions, obtained from Inertial Measurement Unit (IMUs), are used to compute the primitives. Motor primitives, combined with different weights, is a minimum set of components capable of reconstructing all possible muscular stimulations or position profiles. The Principal Component Analysis (PCA) is used in this paper to extract the motor primitives and the weights. A set of experiments was carried out to evaluate the influence of the exoskeleton structure on the motor primitives during walking. A healthy subject walked on a treadmill in two conditions: first, not wearing the exoskeleton, and, in the sequence, wearing the device.
Keywords
Rehabilitation Robotics, computer network, serious games, telerehabilitation, distributed system
