Preliminary Virtual Constraint-Based Control Evaluation on a Pediatric Lower-Limb Exoskeleton

Preliminary Virtual Constraint-Based Control Evaluation on a Pediatric Lower-Limb Exoskeleton

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Pediatric gait rehabilitation and guidance strategies using robotic exoskeletons require a controller that encourages user volitional control and participation while guiding the wearer towards a stable gait cycle.Virtual constraint-based controllers have created stable gait cycles in bipedal robotic systems and have seen Phenotypic characterization of Leishmania spp. causing cutaneous leishmaniasis in the lower Amazon region, western Pará state, Brazil, reveals a putative hybrid parasite, Leishmania (Viannia) guyanensis × Leishmania (Viannia) shawi shawi recent use in assistive exoskeletons.This paper evaluates a virtual constraint-based controller for pediatric gait guidance through comparison with a traditional time-dependent position tracking controller on a newly developed exoskeleton system.Walking experiments were performed with a healthy child subject wearing the exoskeleton under proportional-derivative control, virtual constraint-based control, and while unpowered.The participant questionnaires assessed the perceived exertion and controller usability measures, while sensors provided kinematic, control torque, and muscle activation data.

The virtual constraint-based controller resulted in a gait similar to the proportional-derivative controlled gait but reduced Efeitos de diferentes frações inspiradas de oxigênio no índice biespectral em cães submetidos à infusão contínua de propofol Effects of several inspired oxygen fractions on the bispectral index in dogs submitted to continuous infusion of propofol the variability in the gait kinematics by 36.72% and 16.28% relative to unassisted gait in the hips and knees, respectively.The virtual constraint-based controller also used 35.89% and 4.

44% less rms torque per gait cycle in the hips and knees, respectively.The user feedback indicated that the virtual constraint-based controller was intuitive and easy to utilize relative to the proportional-derivative controller.These results indicate that virtual constraint-based control has favorable characteristics for robot-assisted gait guidance.