NDLI: Preliminary assessment of variable geometry stair ascent and descent with a powered lower limb orthosis for individuals with paraplegia

Content Provider	IEEE Xplore Digital Library
Author	Ekelem, A. Murray, S. Goldfarb, M.
Copyright Year	2015
Description	Author affiliation: Center for Intell. Mechatron., Vanderbilt Univ., Nashville, TN, USA (Ekelem, A.; Murray, S.; Goldfarb, M.)
Abstract	This paper describes a controller for a lower-limb exoskeleton that enables variable-geometry stair ascent and descent for persons with lower limb paralysis. The controller was evaluated on a subject with T10 complete spinal cord injury (SCI) on two staircases, one with a riser height and tread depth of 18.4 × 27.9 cm (7.25 × 11 in) and the other 17.8 × 29.8 cm (7 × 11.75 in). The controller enabled ascent and descent of both staircases without explicit tuning for each, and with an average step rate of 12.9 step/min during ascent and 14.6 step/min during descent.
Starting Page	4671
Ending Page	4674
File Size	672868
Page Count	4
File Format	PDF
ISSN	1557170X
e-ISBN	9781424492718
DOI	10.1109/EMBC.2015.7319436
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-25
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Exoskeletons Trajectory Joints Hip Knee Geometry Damping spinal cord injured (SCI) Assistive technology lower limb exoskeleton paraplegia powered orthosis
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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Preliminary assessment of variable geometry stair ascent and descent with a powered lower limb orthosis for individuals with paraplegia