Corpus ID: 236772051

Neuromechanical model-based control of bi-lateral ankle exoskeletons: biological joint torque and electromyogram reduction across walking conditions

@article{Durandau2021NeuromechanicalMC,
  title={Neuromechanical model-based control of bi-lateral ankle exoskeletons: biological joint torque and electromyogram reduction across walking conditions},
  author={Guillaume Durandau and Wolfgang F. Rampeltshammer and Herman van der Kooij and Massimo Sartori},
  journal={ArXiv},
  year={2021},
  volume={abs/2108.00980}
}
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can effectively support large repertoires of movements. We propose a new human-machine interface to drive bilateral ankle exoskeletons during a range of “unseen” walking conditions that were not used for establishing the control interface. The proposed approach uses person-specific neuromechanical models of the human body to estimate biological ankle torques in real-time from… Expand

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