Titlebook: Interfacing Humans and Robots for Gait Assistance and Rehabilitation; Carlos A. Cifuentes,Marcela Múnera Textbook 2022 The Editor(s) (if a

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Fundamentals for the Design of Lower-Limb Exoskeletons, These devices had a design process that followed two principal features that are centered on the user and the device itself. Firstly, the user-centered features are divided into targeted goals focused on the applications and anatomic concepts. Within these features, the user features are described

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Fundamentals for the Design of Smart Walkers,nventional devices. According to the literature, different robotic walkers have been developed for specific populations and tasks. In this sense, this chapter analyzes some of the most relevant smart walkers in the literature. The most common physical structures and the implemented safety strategies

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Sensing Methodologies for Gait Parameters Estimation and Control,ies are available to acquire gait information. Among these are sensing devices involving inertial sensors, ultrasonic sensors, laser rangefinders, and plantar pressure sensors. From the information provided by these devices, it is possible to calculate spatiotemporal gait parameters such as cadence,

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Experimental Characterization of Flexible and Soft Actuators for Rehabilitation and Assistive Device control strategies, and enhance the human–robot interaction. This way, experimental characterizations have allowed estimating these aspects, either employing test bench structures or involving the user during the process. In terms of pneumatic actuators, the goal of the experimental characterizati

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Variable Stiffness Actuators for Wearable Applications in Gait Rehabilitation,eristics such as shock load absorbing, passive backdrivability, and variable device performance motivate the use of VSA in a rehabilitation context. Multiple studies have exhibited the advantages of applying VSA in gait assistance, improving the human–robot interaction, and preserving the device in

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