Calibración y aprendizaje de parámetros de control para un robot de asistencia de movilidad de pie – Qolo– basado en diferencias fisiológicas aplicado a personas con lesión de Médula Espinal.

Abstract

Currently in research, the devices that are used to assist in the mobility of people with disabilities, seek to adapt to the user. To do this, not only must the type of disability be known and taken into account, but also the level of injury, the post-injury residual motor and its physiological characteristics. The foot mobility device called Qolo, which is directed by the movement of the user's torso and is intended for people with spinal cord injury, is located at the Lausanne Federal Polytechnic School, Switzerland. Research focuses on this device, which must be customized for each user, understanding that users have physiological differences in height, weight and body mass index, which involves developing a strategy to calibrate the control parameters and infer the relationship or not between these parameters and the physiological differences in users. This document presents the interactive interface developed for the data capture, the calibration strategy and its evaluation, obtaining as a result the personalization of the device implementing control and statistical analysis for the adjustment and modification of the calibration parameters, with the ultimate goal of identifying what other factors can influence the Qolo device for personalization, and generate useful conclusions for further research.