Knee torque analysis to implement an exoskeleton

María Augusta Flores Rivera; Bertha Catalina Punin Sigcha; Pedro Alcibiades  Jara Maldonado; Luis Fernando Fernandez; Patricio Fernando Urgiles Ortiz; Patricio Javier Guaraca Medina; Luis Alfredo Calle Arevalo

doi:10.1109/biorob.2014.6913823

Knee torque analysis to implement an exoskeleton

María Augusta Flores Rivera, Bertha Catalina Punin Sigcha, Pedro Alcibiades Jara Maldonado, Luis Fernando Fernandez, Patricio Fernando Urgiles Ortiz, Patricio Javier Guaraca Medina, Luis Alfredo Calle Arevalo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This document presents a mathematical and experimental analysis by the Lagrange equations and with a electrogoniometer, which allows us to obtain the trajectories realized by the knee, by the angular displacing between: hip, knee and ankle; with this and applying mathematical concepts, it is possible to determine the torque applied to the knee while getting up.

Original language	English
Title of host publication	"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Editors	Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
Publisher	IEEE Computer Society
Pages	479-484
Number of pages	6
ISBN (Electronic)	9781479931262
DOIs	https://doi.org/10.1109/biorob.2014.6913823
State	Published - 30 Sep 2014
Event	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil Duration: 12 Aug 2014 → 15 Aug 2014

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Conference

Conference	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Country/Territory	Brazil
City	Sao Paulo
Period	12/08/14 → 15/08/14

Keywords

Electrogoniometer
Exoskeleton
Inertia
Knee
Lagrange
Sagittal Plane

Access to Document

10.1109/biorob.2014.6913823

Cite this

Rivera, M. A. F., Sigcha, B. C. P., Jara Maldonado, P. A., Fernandez, L. F., Ortiz, P. F. U., Medina, P. J. G., & Arevalo, L. A. C. (2014). Knee torque analysis to implement an exoskeleton. In R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H.-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 479-484). Article 6913823 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913823

Rivera, María Augusta Flores ; Sigcha, Bertha Catalina Punin ; Jara Maldonado, Pedro Alcibiades et al. / Knee torque analysis to implement an exoskeleton. "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. editor / Raffaella Carloni ; Lorenzo Masia ; Jose Maria Sabater-Navarro ; Marko Ackermann ; Sunil Agrawal ; Arash Ajoudani ; Panagiotis Artemiadis ; Matteo Bianchi ; Antonio Padilha Lanari Bo ; Maura Casadio ; Kevin Cleary ; Ashish Deshpande ; Domenico Formica ; Matteo Fumagalli ; Nicolas Garcia-Aracil ; Sasha Blue Godfrey ; Islam S.M. Khalil ; Olivier Lambercy ; Rui C. V. Loureiro ; Leonardo Mattos ; Victor Munoz ; Hyung-Soon Park ; Luis Eduardo Rodriguez Cheu ; Roque Saltaren ; Adriano A. G. Siqueira ; Valentina Squeri ; Arno H.A. Stienen ; Nikolaos Tsagarakis ; Herman Van der Kooij ; Bram Vanderborght ; Nicola Vitiello ; Jose Zariffa ; Loredana Zollo. IEEE Computer Society, 2014. pp. 479-484 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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title = "Knee torque analysis to implement an exoskeleton",

abstract = "This document presents a mathematical and experimental analysis by the Lagrange equations and with a electrogoniometer, which allows us to obtain the trajectories realized by the knee, by the angular displacing between: hip, knee and ankle; with this and applying mathematical concepts, it is possible to determine the torque applied to the knee while getting up.",

keywords = "Electrogoniometer, Exoskeleton, Inertia, Knee, Lagrange, Sagittal Plane",

author = "Rivera, {Mar{\'i}a Augusta Flores} and Sigcha, {Bertha Catalina Punin} and {Jara Maldonado}, {Pedro Alcibiades} and Fernandez, {Luis Fernando} and Ortiz, {Patricio Fernando Urgiles} and Medina, {Patricio Javier Guaraca} and Arevalo, {Luis Alfredo Calle}",

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month = sep,

day = "30",

doi = "10.1109/biorob.2014.6913823",

language = "English",

series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

publisher = "IEEE Computer Society",

pages = "479--484",

editor = "Raffaella Carloni and Lorenzo Masia and Sabater-Navarro, {Jose Maria} and Marko Ackermann and Sunil Agrawal and Arash Ajoudani and Panagiotis Artemiadis and Matteo Bianchi and {Lanari Bo}, {Antonio Padilha} and Maura Casadio and Kevin Cleary and Ashish Deshpande and Domenico Formica and Matteo Fumagalli and Nicolas Garcia-Aracil and Godfrey, {Sasha Blue} and Khalil, {Islam S.M.} and Olivier Lambercy and Loureiro, {Rui C. V.} and Leonardo Mattos and Victor Munoz and Hyung-Soon Park and {Rodriguez Cheu}, {Luis Eduardo} and Roque Saltaren and Siqueira, {Adriano A. G.} and Valentina Squeri and Stienen, {Arno H.A.} and Nikolaos Tsagarakis and {Van der Kooij}, Herman and Bram Vanderborght and Nicola Vitiello and Jose Zariffa and Loredana Zollo",

booktitle = "{"}2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014",

address = "United States",

note = "5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 ; Conference date: 12-08-2014 Through 15-08-2014",

}

Rivera, MAF, Sigcha, BCP, Jara Maldonado, PA, Fernandez, LF, Ortiz, PFU, Medina, PJG & Arevalo, LAC 2014, Knee torque analysis to implement an exoskeleton. in R Carloni, L Masia, JM Sabater-Navarro, M Ackermann, S Agrawal, A Ajoudani, P Artemiadis, M Bianchi, AP Lanari Bo, M Casadio, K Cleary, A Deshpande, D Formica, M Fumagalli, N Garcia-Aracil, SB Godfrey, ISM Khalil, O Lambercy, RCV Loureiro, L Mattos, V Munoz, H-S Park, LE Rodriguez Cheu, R Saltaren, AAG Siqueira, V Squeri, AHA Stienen, N Tsagarakis, H Van der Kooij, B Vanderborght, N Vitiello, J Zariffa & L Zollo (eds), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014., 6913823, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, pp. 479-484, 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 12/08/14. https://doi.org/10.1109/biorob.2014.6913823

Knee torque analysis to implement an exoskeleton. / Rivera, María Augusta Flores; Sigcha, Bertha Catalina Punin; Jara Maldonado, Pedro Alcibiades et al.
"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. ed. / Raffaella Carloni; Lorenzo Masia; Jose Maria Sabater-Navarro; Marko Ackermann; Sunil Agrawal; Arash Ajoudani; Panagiotis Artemiadis; Matteo Bianchi; Antonio Padilha Lanari Bo; Maura Casadio; Kevin Cleary; Ashish Deshpande; Domenico Formica; Matteo Fumagalli; Nicolas Garcia-Aracil; Sasha Blue Godfrey; Islam S.M. Khalil; Olivier Lambercy; Rui C. V. Loureiro; Leonardo Mattos; Victor Munoz; Hyung-Soon Park; Luis Eduardo Rodriguez Cheu; Roque Saltaren; Adriano A. G. Siqueira; Valentina Squeri; Arno H.A. Stienen; Nikolaos Tsagarakis; Herman Van der Kooij; Bram Vanderborght; Nicola Vitiello; Jose Zariffa; Loredana Zollo. IEEE Computer Society, 2014. p. 479-484 6913823 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Knee torque analysis to implement an exoskeleton

AU - Rivera, María Augusta Flores

AU - Sigcha, Bertha Catalina Punin

AU - Jara Maldonado, Pedro Alcibiades

AU - Fernandez, Luis Fernando

AU - Ortiz, Patricio Fernando Urgiles

AU - Medina, Patricio Javier Guaraca

AU - Arevalo, Luis Alfredo Calle

PY - 2014/9/30

Y1 - 2014/9/30

N2 - This document presents a mathematical and experimental analysis by the Lagrange equations and with a electrogoniometer, which allows us to obtain the trajectories realized by the knee, by the angular displacing between: hip, knee and ankle; with this and applying mathematical concepts, it is possible to determine the torque applied to the knee while getting up.

AB - This document presents a mathematical and experimental analysis by the Lagrange equations and with a electrogoniometer, which allows us to obtain the trajectories realized by the knee, by the angular displacing between: hip, knee and ankle; with this and applying mathematical concepts, it is possible to determine the torque applied to the knee while getting up.

KW - Electrogoniometer

KW - Exoskeleton

KW - Inertia

KW - Knee

KW - Lagrange

KW - Sagittal Plane

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U2 - 10.1109/biorob.2014.6913823

DO - 10.1109/biorob.2014.6913823

M3 - Conference contribution

AN - SCOPUS:84918510531

T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

SP - 479

EP - 484

BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

A2 - Carloni, Raffaella

A2 - Masia, Lorenzo

A2 - Sabater-Navarro, Jose Maria

A2 - Ackermann, Marko

A2 - Agrawal, Sunil

A2 - Ajoudani, Arash

A2 - Artemiadis, Panagiotis

A2 - Bianchi, Matteo

A2 - Lanari Bo, Antonio Padilha

A2 - Casadio, Maura

A2 - Cleary, Kevin

A2 - Deshpande, Ashish

A2 - Formica, Domenico

A2 - Fumagalli, Matteo

A2 - Garcia-Aracil, Nicolas

A2 - Godfrey, Sasha Blue

A2 - Khalil, Islam S.M.

A2 - Lambercy, Olivier

A2 - Loureiro, Rui C. V.

A2 - Mattos, Leonardo

A2 - Munoz, Victor

A2 - Park, Hyung-Soon

A2 - Rodriguez Cheu, Luis Eduardo

A2 - Saltaren, Roque

A2 - Siqueira, Adriano A. G.

A2 - Squeri, Valentina

A2 - Stienen, Arno H.A.

A2 - Tsagarakis, Nikolaos

A2 - Van der Kooij, Herman

A2 - Vanderborght, Bram

A2 - Vitiello, Nicola

A2 - Zariffa, Jose

A2 - Zollo, Loredana

PB - IEEE Computer Society

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Y2 - 12 August 2014 through 15 August 2014

ER -

Rivera MAF, Sigcha BCP, Jara Maldonado PA, Fernandez LF, Ortiz PFU, Medina PJG et al. Knee torque analysis to implement an exoskeleton. In Carloni R, Masia L, Sabater-Navarro JM, Ackermann M, Agrawal S, Ajoudani A, Artemiadis P, Bianchi M, Lanari Bo AP, Casadio M, Cleary K, Deshpande A, Formica D, Fumagalli M, Garcia-Aracil N, Godfrey SB, Khalil ISM, Lambercy O, Loureiro RCV, Mattos L, Munoz V, Park HS, Rodriguez Cheu LE, Saltaren R, Siqueira AAG, Squeri V, Stienen AHA, Tsagarakis N, Van der Kooij H, Vanderborght B, Vitiello N, Zariffa J, Zollo L, editors, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society. 2014. p. 479-484. 6913823. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/biorob.2014.6913823

Knee torque analysis to implement an exoskeleton

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