000228645 001__ 228645
000228645 005__ 20181203024722.0
000228645 0247_ $$2doi$$a10.1038/srep46721
000228645 022__ $$a2045-2322
000228645 02470 $$2ISI$$a000400959800001
000228645 037__ $$aARTICLE
000228645 245__ $$aAn ecologically-controlled exoskeleton can improve balance recovery after slippage
000228645 260__ $$bNature Publishing Group$$c2017$$aLondon
000228645 269__ $$a2017
000228645 300__ $$a10
000228645 336__ $$aJournal Articles
000228645 520__ $$aThe evolution to bipedalism forced humans to develop suitable strategies for dynamically controlling their balance, ensuring stability, and preventing falling. The natural aging process and traumatic events such as lower-limb loss can alter the human ability to control stability significantly increasing the risk of fall and reducing the overall autonomy. Accordingly, there is an urgent need, from both end-users and society, for novel solutions that can counteract the lack of balance, thus preventing falls among older and fragile citizens. In this study, we show a novel ecological approach relying on a wearable robotic device (the Active Pelvis Orthosis, APO) aimed at facilitating balance recovery after unexpected slippages. Specifically, if the APO detects signs of balance loss, then it supplies counteracting torques at the hips to assist balance recovery. Experimental tests conducted on eight elderly persons and two transfemoral amputees revealed that stability against falls improved due to the "assisting when needed" behavior of the APO. Interestingly, our approach required a very limited personalization for each subject, and this makes it promising for real-life applications. Our findings demonstrate the potential of closed-loop controlled wearable robots to assist elderly and disabled subjects and to improve their quality of life.
000228645 700__ $$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aMonaco, V.
000228645 700__ $$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aTropea, P.
000228645 700__ $$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aAprigliano, F.
000228645 700__ $$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aMartelli, D.
000228645 700__ $$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aParri, A.
000228645 700__ $$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aCortese, M.
000228645 700__ $$uIRCSS Don Carlo Gnocchi Fdn, Florence, Italy$$aMolino-Lova, R.
000228645 700__ $$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aVitiello, N.
000228645 700__ $$g218366$$uScuola Super Sant Anna, BioRobot Inst, Pisa, Italy$$aMicera, S.$$0246201
000228645 773__ $$j7$$tScientific Reports$$q46721
000228645 909C0 $$xU12522$$0252419$$pTNE
000228645 909CO $$pSTI$$particle$$ooai:infoscience.tind.io:228645
000228645 917Z8 $$x218366
000228645 937__ $$aEPFL-ARTICLE-228645
000228645 973__ $$rREVIEWED$$sPUBLISHED$$aOTHER
000228645 980__ $$aARTICLE