This work deals with neural network-based gait-pattern adaptation algorithm for an active orthosis. The proposed device is developed for lower limbs and based on a commercially available orthosis, Figure 1. Active orthoses can be designed for helping physically weak or injured people during rehabilitation procedures . The robotic orthosis Lokomat is being recently used for rehabilitation of patients with stroke or spinal cord injury individuals . Gait-pattern adaptation algorithms are proposed by Riener, et. al , considering the human-machine interaction. The algorithms in Riener, et. al  were developed for a fixed base robotic system; they can not be applied directly in the proposed orthosis, since no stability of the gait pattern is considered. A trajectory generator for biped robots taking into account the ZMP (Zero Moment Point) criterion is presented in Huang, et al. . This method presents suitable results with smooth and second-order differentiable curves.
- Bioengineering Division
Neural Network-Based Gait Adaptation Algorithms for Lower Limbs Active Orthoses
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Gomes, MA, Siqueira, AAG, & Silveira, GLM. "Neural Network-Based Gait Adaptation Algorithms for Lower Limbs Active Orthoses." Proceedings of the ASME 2009 Summer Bioengineering Conference. ASME 2009 Summer Bioengineering Conference, Parts A and B. Lake Tahoe, California, USA. June 17–21, 2009. pp. 191-192. ASME. https://doi.org/10.1115/SBC2009-206167
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