ArticleFrontiers in neuroscience2018
A Control Scheme That Uses Dynamic Postural Synergies to Coordinate a Hybrid Walking Neuroprosthesis: Theory and Experiments.
Article in Frontiers in neuroscience, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. It is linked to trial NCT04453943 (Modeling, Optimization, and Control Methods for a Personalized Hybrid Walking Exoskeleton), which is not on this map. Cited by 17 papers, 1 of them a synthesis that pooled it.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Modeling, Optimization, and Control Methods for a Personalized Hybrid Walking Exoskeleton
Who cites it
17 citing papers in PubMed, 1 synthesis or guideline pooled it, 43 citations in OpenAlex.
- Effects of wearable device training on upper limb motor function in patients with stroke: a systematic review and meta-analysis.The Journal of international medical research · 2024Pooled it
- Lower limb active exoskeletons, exosuits, assistive devices and specifications: a scoping review.Journal of neuroengineering and rehabilitation · 2026Article
- A new modular neuroprosthesis suitable for hybrid FES-robot applications and tailored assistance.Journal of neuroengineering and rehabilitation · 2024Article
- An Iterative Learning Controller for a Switched Cooperative Allocation Strategy during Sit-to-Stand Tasks with a Hybrid Exoskeleton.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2022Article
- Biologically Inspired Optimal Terminal Iterative Learning Control for the Swing Phase of Gait in a Hybrid Neuroprosthesis: A Modeling Study.Bioengineering (Basel, Switzerland) · 2022Article
- A deep learning method to predict ankle joint moment during walking at different speeds with ultrasound imaging: A framework for assistive devices control.Wearable technologies · 2022Article
- A Tube-based Model Predictive Control Method to Regulate a Knee Joint with Functional Electrical Stimulation and Electric Motor Assist.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2021Article
- Closed-Loop Torque and Kinematic Control of a Hybrid Lower-Limb Exoskeleton for Treadmill Walking.Frontiers in robotics and AI · 2021Article
- Shared Control of a Powered Exoskeleton and Functional Electrical Stimulation Using Iterative Learning.Frontiers in robotics and AI · 2021Article
- These legs were made for propulsion: advancing the diagnosis and treatment of post-stroke propulsion deficits.Journal of neuroengineering and rehabilitation · 2020Review
- Using Person-Specific Muscle Fatigue Characteristics to Optimally Allocate Control in a Hybrid Exoskeleton - Preliminary Results.IEEE transactions on medical robotics and bionics · 2020Article
- Evaluation of Motor Primitive-Based Adaptive Control for Lower Limb Exoskeletons.Frontiers in robotics and AI · 2020Article
- Model Predictive Control of a Feedback-Linearized Hybrid Neuroprosthetic System With a Barrier Penalty.Journal of computational and nonlinear dynamics · 2019Article
- Sub-optimally Solving Actuator Redundancy in a Hybrid Neuroprosthetic System with a Multi-layer Neural Network Structure.International journal of intelligent robotics and applications · 2019Article
- Neuromusculoskeletal model that walks and runs across a speed range with a few motor control parameter changes based on the muscle synergy hypothesis.Scientific reports · 2019Article
- Design of the Cooperative Actuation in Hybrid Orthoses: A Theoretical Approach Based on Muscle Models.Frontiers in neurorobotics · 2019Article
- Maintaining upright posture during perturbed standing in a motor-assisted hybrid neuroprosthesis with powered ankle joints: A feasibility and proof-of-concept study.Journal of rehabilitation and assistive technologies engineeringArticle
Corrections and comments
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Authors and funding
4 authors at 2 institutions in 1 country.
Funding
Abstract
A hybrid walking neuroprosthesis that combines functional electrical stimulation (FES) with a powered lower limb exoskeleton can be used to restore walking in persons with paraplegia. It provides therapeutic benefits of FES and torque reliability of the powered exoskeleton. Moreover, by harnessing metabolic power of muscles via FES, the hybrid combination has a potential to lower power consumption and reduce actuator size in the powered exoskeleton. Its control design, however, must overcome the challenges of actuator redundancy due to the combined use of FES and electric motor. Further, dynamic disturbances such as electromechanical delay (EMD) and muscle fatigue must be considered during the control design process. This ensures stability and control performance despite disparate dynamics of FES and electric motor. In this paper, a general framework to coordinate FES of multiple gait-governing muscles with electric motors is presented. A muscle synergy-inspired control framework is used to derive the controller and is motivated mainly to address the actuator redundancy issue. Dynamic postural synergies between FES of the muscles and the electric motors were artificially generated through optimizations and result in key dynamic postures when activated. These synergies were used in the feedforward path of the control system. A dynamic surface control technique, modified with a delay compensation term, is used as the feedback controller to address model uncertainty, the cascaded muscle activation dynamics, and EMD. To address muscle fatigue, the stimulation levels in the feedforward path were gradually increased based on a model-based fatigue estimate. A Lyapunov-based stability approach was used to derive the controller and guarantee its stability. The synergy-based controller was demonstrated experimentally on an able-bodied subject and person with an incomplete spinal cord injury.
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What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.