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A Method for the Autonomous Control of Lower Limb Exoskeletons for Persons With Paraplegia
Open accessAbstract
Efforts have recently been reported by several research groups on the development of computer-controlled lower limb orthoses to enable legged locomotion in persons with paraplegia. Such systems must employ a control framework that provides essential movements to the paraplegic user (i.e., sitting, standing, and walking), and ideally enable the user to autonomously command these various movements in a safe, reliable, and intuitive manner. This paper describes a control method that enables a paraplegic user to perform sitting, standing, and walking movements, which are commanded based on postural information measured by the device. The proposed user interface and control structure was implemented on a powered lower limb orthosis, and the system was tested on a paraplegic subject with a T10 complete injury. Experimental data is presented that indicates the ability of the proposed control architecture to provide appropriate user-initiated control of sitting, standing, and walking. The authors also provide a link to a video that qualitatively demonstrates the user's ability to independently control basic movements via the proposed control method.
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“The Vanderbilt exoskeleton developed by Goldfarb et al [17], [35] is another LEE that enables paralyzed patients to perform basic motions such as walking, sitting, standing, and walking up and down stairs.”
From Recent developments and challenges of lower extremity exoskeletons (2016) · cites this paper as [17]
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Citations
Cites
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Sorted by citations
Recent developments and challenges of lower extremity exoskeletons
Chen, B., Ma, H., Qin, L.-Y., Gao, F., Chan, K.-M., Law, S.-W., Qin, L., & Liao, W.-H. (2016) · Journal of Orthopaedic Translation · doi:10.1016/j.jot.2015.09.007 · Cited by 501
“The Vanderbilt exoskeleton [17], the Robotic Upper Extremity Repetitive Trainer (RUPERT) exoskeleton [64], and a joint-coupled orthosis [65] have also adopted similar control strategies.”
BackgroundMethodFarris, R. J., Quintero, H. A., Murray, S. A., Ha, K. H., Hartigan, C., & Goldfarb, M. (2014) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2013.2268320 · Cited by 208
Self-citation
Metadata
- Authors
- Quintero, H. A., Farris, R. J., & Goldfarb, M.
- Affiliations
- Vanderbilt University (US)
- Venue
- Journal of Medical Devices
- Publisher
- ASME International
- Published
- 2012-10-11
- Volume
- 6
- Issue
- 4
- ISSN
- 1932-6181 (ISSN-L)
- 1932-619X
- PMC
- PMC3596884
- OpenAlex
- W2157391706
- Cited by
- 97
- References
- 18
- Citations by year
- 2026: 1 · 2025: 2 · 2024: 2 · 2023: 2 · 2022: 9 · 2021: 8 · 2020: 2 · 2019: 13 · 2018: 17 · 2017: 9 · 2016: 12 · 2015: 12 · 2014: 6 · 2013: 2
- FWCI
- 3.65
- Type
- journal article
- Language
- en
- Open access
- green
- www.ncbi.nlm.nih.gov
- Locations
- Journal of Medical Devices (publishedVersion)
- Europe PMC (PubMed Central) (publishedVersion)
- PubMed Central (publishedVersion)
- PubMed (publishedVersion)
- Funders
- Eunice Kennedy Shriver National Institute of Child Health and Human Development (R01HD059832)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Physical Sciences › Engineering › Biomedical Engineering › Muscle activation and electromyography studies
- Health Sciences › Medicine › Clinical Neurology › Spinal Cord Injury Research
- Keywords
- lower limb exoskeleton, paraplegia, autonomous control, gait assistance, user interface, legged locomotion
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