ISMR 2023 - Bonnefoy/Otmani

bonnefoy_otmani_2023.md

+
+---
+title: Modelisation of a Human-Exoskeleton Interaction for Cerebral Palsy
+subtitle: 2023 International Symposium on Medical Robotics (ISMR)
+author:
+- Aurélie BONNEFOY ^1^
+- Sabrina OTMANI ^1^,^2^
+- <a href="https://gepettoweb.laas.fr/index.php/Members/NicolasMansard">Nicolas MANSARD</a> ^1^
+- <a href="https://homepages.laas.fr/ostasse/drupal/">Olivier STASSE</a> ^1^
+- <a href="https://ica.cnrs.fr/author/gmichon/">Guilhem MICHON</a> ^2^
+- <a href="https://gepettoweb.laas.fr/index.php/Members/BrunoWatier">Bruno WATIER</a> ^1^
+org:
+- ^1^ Gepetto Team, LAAS-CNRS, France.
+- ^2^ MS2M Team, ICA, Toulouse.
+
+code: https://github.com/ABonnefoy/Exo_CP
+...
+
+## Abstract
+
+This paper presents a method to model a human-
+exoskeleton interaction for patients suffering from cerebral
+palsy (CP). More precisely a model of the gait related to
+spastic CP is proposed using an optimization program based
+on experimental data. The model is done using mechanical
+differential equations of motion. A unique feature of this paper
+is the Clinical Gait Analysis (CGA) performed on two 9 years
+old twin sisters. One has spastic cerebral palsy (C) while the
+other is healthy (H) thus without any impairment. This paper
+aims at determining the proportion of the walking efforts that
+can be supported by the exoskeleton in order to allow a CP
+child gait to converge toward a non-pathological one. For this
+purpose, minimal torques produced by the human in interaction
+with the exoskeleton were studied. The interaction between
+the human and the exoskeleton is realized using optimisation
+methods such as SLSQP and QuadProg. Ground contacts are
+also included in the modelisation. Results show that the human
+produces joint torques in the same range of the ones of C.
+Exoskeleton succeds in producing additionnal torques to lead
+the pathological gait to a non-pathological one. The code for
+running the simulations is available on git.
+
+