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This paper presents a gait phase detection algorithm for providing feedback in walking with a robotic prosthesis. The algorithm utilizes the output signals of a wearable wireless sensory system incorporating sensorized shoe insoles and inertial measurement units attached to body segments. The principle of detecting transitions between gait phases is based(More)
This paper describes the design and evaluation of a miniature kinematic sensor based three dimensional (3D) joint angle measurement technique. The technique uses a combination of rate gyroscope, accelerometer and magnetometer sensor signals. The technique enables 3D inter-segment joint angle measurement and could be of benefit in a variety of applications(More)
The paper deals with the application of model reference adaptive control to robot impedance control, which is actually a technique of steering the end-effector on a prescribed path and satisfying a prescribed dynamic relationship between the force and the end-effector position. Due to unknown parameters of the environment (stiffness, exact position), a(More)
Roll dynamics in heavy freight vehicles is characterized in driving conditions by the lateral load transfer coe cient. The coe cient tracking requires sophisticated measurement systems for assessing the wheels' normal loading. In this paper a new recursive non-linear lateral load transfer estimator employing sensors that are already used on a vehicle in(More)
The paper presents a novel control approach for the robot-assisted motion augmentation of disabled subjects during the standing-up manoeuvre. The main goal of the proposal is to integrate the voluntary activity of a person in the control scheme of the rehabilitation robot. The algorithm determines the supportive force to be tracked by a robot force(More)
The sit-to-stand transfer of paraplegic patients using functional electrical stimulation (FES) of the knee extensors and arm support was analyzed in the study. In a group of 8 completely paralyzed subjects who were trained FES users, kinematic and dynamic parameters were recorded during standing up trials. A contactless optical system was used to assess the(More)
The purpose of the study was to present a method for the assessment of finger joint torques in two-fingered precision grips. The static analysis of various grips is important for the analysis of the mechanics of a human hand and the functional evaluation of grasping. We have built a grip-measuring device assessing the endpoint forces of two-oppositional(More)
The suitability of multichannel functional electrical stimulation (FES) during the standing-up manoeuvre for therapeutic home use was investigated. Two spinal cord-injured subjects (SCI) participated in the study. Ankle plantar flexors, knee extensors and hip extensors were stimulated. The amplitude of the stimulation pulses depended on the current phase of(More)
The aim of this study was to perform a preliminary evaluation of a new method for therapeutic exercise of grasping in patients with upper limb disability. The new method combines active voluntary exercise augmented with electrical stimulation and controlled by using force feedback. The feedback has two functions: automatic control of the intensity of(More)
The paper presents the design and validation of a three-segment human body model. The model is aimed at the reconstruction of motion trajectories of the shank, thigh and HAT (Head-Arms-Trunk) segments in sit-to-stand-motion using low cost inertial sensors. For this purpose the Extended Kalman filter is applied for fusion of model data and data acquired(More)