Autonomic Computing in a Biomimetic Algorithm for Robots Dedicated to Rehabilitation of Ankle

Abstract

Human mobility is the key element of everyday life, its reduction or loss deeply affects daily activities. In assisted rehabilitation, robotic devices have focuses on the biomechanics of motor control. However, biomechanics does not study the neurological and physiological processes related to normal gait. Biomimetics combined with biomechanics, can generate a more efficient stimulation of the motor cortex and the locomotor system. The highest efficiency obtained through torque generation models, based on the physiological response of muscles and bones to reaction forces, together with control techniques based on autonomic computation. An autonomic control algorithm has a self-adjusting behaviour, ensuring patient safety and robot operation without the continuous monitoring of the physiotherapist. Thus, this work will identify the elements that characterize the physiological stimuli related to normal human gait, focusing on the ankle joint, aiming the development of biomimetic algorithms for robots for rehabilitation of the lower limbs.