The CYBERnetic LowEr-Limb CoGnitive Ortho-prosthesis
European Commission, under the 7th Framework Programme (grant no. FP7- ICT-287894)
The scientific and technological global goal of the CYBERLEGs project is the development of an artificial cognitive system for dysvascular trans-femoral amputees’ lower-limb functional replacement and assistance in activities of daily living. CYBERLEGs will be a robotic system constituted of an active cognitive artificial leg for the functional replacement of the amputated limb and a wearable active orthosis for assisting the contralateral sound limb. CYBERLEGs will allow the amputee to walk back and forward, go up and down stairs, and move from sit-to-stand and stand-to-sit with a minimum cognitive and energetic effort. The control system of CYBERLEGs will be based on motor primitives as fundamental buildings block, thus endowing CYBERLEGs with semiautonomous behaviour for planning the motion of the prosthesis joints and the assistive action of the orthosis module. CYBERLEGs will be capable of high-level cognitive skills, interfaced to the amputee through a bi-directional interaction. CYBERLEGs will be able ‘to understand’ user-motor intentions smoothly and effectively and to prevent the risk of fall for the amputee, by means of a multi-sensory fusion algorithm based on:
1. the observation of the motion of the amputee body;
2. the interaction force between CYBERLEGs and the amputee;
3. the force interaction with ground.
Finally, CYBERLEGs will be capable of closing the loop with the amputee: the amputee will receive an efferent feedback from CYBERLEGs which will enhance the perception of CYBERLEGs as a part of his/her own body.
We are the project co-ordinator and the responsible partner for the development of the wearable active orthosis.
Université catholique de Louvain - Vrije Universiteit Brussel - Rizzoli Ortopedia - University of Ljubljani
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