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Estimation de la posture d'un sujet paraplégique en vue d'une rééducation des membres inférieurs sous stimulation électrique fonctionnelle

Gaël Pages 1
1 DEMAR - Artificial movement and gait restoration
CRISAM - Inria Sophia Antipolis - Méditerranée , LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This thesis presents a contribution for FES-induced movement in paraplegia. The feasibility of posture estimation from forces exerted voluntarily on the handles of a supporting frame during standing is investigated. The problem is stated as a constraint satisfaction problem and is solved with an algorithm based on interval analysis. The constraints are derived from a kinematic model of the human body. The methodology is capable to take in account any uncertainty in quantities that are either assumed known
or measured. Uncertainty bounds are computed for the estimated posture. This method has been first validated with healthy subjects experiments, using two 6-axis force/torque sensors attached onto handles of a supporting frame, and was finally used and validated with paraplegic patients.
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Submitted on : Monday, January 8, 2007 - 12:29:12 PM
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Gaël Pages. Estimation de la posture d'un sujet paraplégique en vue d'une rééducation des membres inférieurs sous stimulation électrique fonctionnelle. Automatique / Robotique. Université Montpellier II - Sciences et Techniques du Languedoc, 2006. Français. ⟨tel-00123102⟩

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