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Creators/Authors contains: "Kobetic, Rudi"

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  1. ; ; ; ; (, Frontiers in Robotics and AI)
    null (Ed.)
    The development of a hybrid system for people with spinal cord injuries is described. The system includes implanted neural stimulation to activate the user's otherwise paralyzed muscles, an exoskeleton with electromechanical actuators at the hips and knees, and a sensory and control system that integrates both components. We are using a muscle-first approach: The person's muscles are the primary motivator for his/her joints and the motors provide power assistance. This design philosophy led to the development of high efficiency, low friction joint actuators, and feed-forward, burst-torque control. The system was tested with two participants with spinal cord injury (SCI) and unique implanted stimulation systems. Torque burst addition was found to increase gait speed. The system was found to satisfy the main design requirements as laid out at the outset. 
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  2. ; ; ; ; ; ; ; ; ; (, International Symposium on Medical Robotics)
    This paper presents the design and deployment of a modular, portable and inexpensive embedded control system architecture for the hybrid neuroprosthesis (HNP). It consist of a suite of custom designed electronic hardware and firmware to provide wireless connectivity for close-loop control with mechanical exoskeletal constraints and neural stimulation with provisions for power assist to restore locomotion functions for individuals with spinal cord injury (SCI). The design philosophy, methodology, and implementation are described and discussed in details. Bench testing and subject experimentation have been conducted to evaluate the performance of the HNP system. We conclude that the embedded control system meets the technical requirements and design criteria, and can thus be considered as a potential reference design for generic biomedical research and clinical deployment in the neuroprosthetic and exoskeleton fields. 
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