Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
In this study, we propose, as a method of exoskeleton robot control, to estimate the voluntary lower limb muscle activities that are lost after spinal cord injury (SCI). This method is based on spinal cord mapping of the remaining muscle activities and its online matching to the one obtained from healthy participants, taking into account the muscle synergy of the whole body during walking motion. Here we report on the analysis of the synergy of whole body muscle activity during walking and its spinal cord mapping using Non-negative matrix factorization(NMF), and also on the computation of transformation matrix to estimate intended lower limb muscle activity from the remaining spinal cord activity. Implementation of the proposed method using the right leg of HAL (Hybrid Assistive Limb) and walking experiments with a healthy participant are also reported.
