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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-04092014-110148


Tipo di tesi
Tesi di laurea magistrale
Autore
PARRI, ANDREA
URN
etd-04092014-110148
Titolo
Development, design and experimental validation of a gait phase predictor based on Adaptive Oscillators for lower limb assistive robotics
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA BIOMEDICA
Relatori
relatore Dott. Vitiello, Nicola
relatore Prof.ssa Laschi, Cecilia
Parole chiave
  • Adaptive oscillators
  • Assisitive robotics
  • Phase of gait
Data inizio appello
29/04/2014
Consultabilità
Completa
Riassunto
Longer life expectation and lower birth rate are challenging themes of industrialized society which has to deal with ageing of population who is still required to remain healthy and productive. Therefore, many research teams have focused their studies in designing wearable robotic devices for lower limb rehabilitation and assistance. Comfortable and ergonomic pHRI, non invasive and reliable cHRI, bioinspired mechatronic design of control and actuation system are still opening questions of this research field. In this work an active pelvis orthosis for gait assistance will be presented and described in detail in all its mechatronic components.
Our study will be focused on developing and validating a phase prediction algorithm based on adaptive frequency oscillators; an adaptive oscillator is a mathematical tool capable to learn the features of a non-sinusoidal signal such as its frequency (and consequently the phase) and envelope modeling the inherent limit cycle of its dynamical system. The dynamical system has been extended to synchronize oscillator phase with a specific event of the gait cycle. The phase predictor is exploited to instantaneously access the phase of gait of the wearer simply monitoring biomechanical signals through non invasive and reliable sensors. The phase of gait is then used to generate a phase-based torque aiming at assisting specific moments of the gait cycle. An additional experimental session was carried on to prove the feasibility of the developed assistive strategy.
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