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Human-Exoskeleton Interaction Simulation Framework via Deep Reinforcement Learning
SIlvino, Diogo Roseira; Figueiredo, Joana; Santos, CristinaDesigning and controlling lower-limb exoskeletons is a complex and costly process that requires extensive prototyping, human testing, and iterative refinement. A key challenge in active exoskeleton development is accurately perceiving human-robot interaction (HRI) and delivering practical assistance through advanced control strategies. Simulating HRI in controlled environments offers a powerful alternative, ena...
PratyOmics - Metabolómica da planta para o controlo do nemátode das lesões radi...
Barbosa, Pedro; Costa, Marina; Espada, Margarida; Teixeira, Dora; Brás, Teresa; Duarte, Fátima; Figueiredo, Joana; Cardoso, Joana; Esteves, IvâniaO nemátode-das-lesões-radiculares (NLR), Pratylenchus penetrans, é um endoparasita migratório que afeta culturas agrícolas economicamente importantes, como a batata, estando atualmente presente na lista de pragas reguladas não sujeitas a quarentena A2 da União Europeia (UE 2016/2031). Em alguns países europeus, como Portugal, esta espécie foi detetada em campos de produção de batata estando relacionada com o se...
Locomotion mode prediction in real life walking with and without ankle-foot exo...
Carvalho, Simão Pedro Fernandes Machado Dias; Figueiredo, Joana; Cerqueira, João José; Santos, CristinaExoskeletons can assist human locomotion in real-life scenarios, but existing tools for decoding locomotion modes (LMs) focus on recognition rather than prediction, which can lead to delayed assistance. This study proposes a long short-term memory (LSTM) neural network to predict five LMs (level-walking, ramp ascent/descent, stair ascent/descent) with greater lead time compared to state-of-the-art methods. We e...
MuscLab: a flexible and elastic e-textile band for monitoring muscle contraction
Moreira, Luís; Figueiredo, Joana; Santos, CristinaMecanomyographic (MMG) and force myography (FMG) sensors emerged as an alternative to electromyography (EMG) for monitoring muscle contraction without requiring the direct contact of the sensor with the user’s skin. Nonetheless, most of the available sensors 1) require as many sensors as there are muscles to monitor, resulting in a time-consuming preparation for practical use and 2) present a nonelastic nature,...
Efficacy, Complications and Effects of Alcides Pereira’s Sutures in the Managem...
Cordeiro Féria, Beatriz; Nazaré, Patrícia; Figueiredo, Joana; Neves Gomes, Inês; Pereira, AlcidesIntroduction: Uterine compressive sutures are conservative measures applied in cases of severe postpartum hemorrhage unresponsive to uterotonics. Pereira’s suture was introduced in 2005 and consists of two longitudinal and three transverse non-transfixes sutures. Previous studies reported favorable results, highlighting its benefits and value. The aim of this study was to assess the efficacy, complications, and...
Human-robot joint misalignment, physical interaction, and gait kinematic assess...
Andrade, Ricardo Luís Nunes; Figueiredo, Joana; Fonseca, Pedro; Vilas-Boas, João P.; Silva, Miguel T.; Santos, CristinaLower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current orthoses lead to spurious forces at the HRi that cause adverse effects and high abandonment rates. This study aims to assess and compare, in a holistic approach, h...
A real-time kinematic-based locomotion mode prediction algorithm for an ankle o...
Moreira, Luís Carlos Rodrigues; Figueiredo, Joana; Cerqueira, João José; Santos, CristinaRobotic assistive devices (orthoses and exoskeletons) usually feature non-intrusive sensors and intelligent algorithms. These enable the decoding of different locomotion modes (LMs), allowing the devices to tailor their assistance and support users in executing everyday walking tasks. Despite recent advances, most LM decoding tools (i) decode a small number of LMs simultaneously; (ii) have high recognition dela...
Assist-as-needed electromyography-based control for a wearable ankle robotic or...
Moreira, Luís; Figueiredo, Joana; Cerqueira, João José; Santos, CristinaThe challenge of addressing the critical public health issue of lower limb disability has led to the exploration of robotic assistive devices for rehabilitation, as a complement to conventional therapies. However, achieving optimal synergy between robotic activity and human effort remains a persistent challenge. Even the optimal control of Assist-as-Needed (AAN) remains to be solved. This study addresses this c...
Real-time torque estimation using human and sensor data fusion for exoskeleton ...
Moreira, Luís Carlos Rodrigues; Barbosa, Roberto Martins; Figueiredo, Joana; Fonseca, Pedro; Vilas-Boas, João Paulo; Santos, CristinaRobotic assistive devices have emerged as a potential complement for repeti-tive and user-centered gait rehabilitation. In this field, the development of electromyography (EMG)-based torque controls has played a crucial role in improving the user experience with robotic assistive devices. However, most existing approaches for EMG-based joint torque estimation (i) are designed for upper limbs; (ii) often do not ...
Design and usability assessment of multimodal augmented reality system for gait...
Pinheiro, Cristiana Filipa Sampaio; Figueiredo, Joana; Pereira, Tânia; Santos, CristinaBiofeedback is a promising tool to complement conventional physi-cal therapy by fostering active participation of neurologically impaired patients during treatment. This work aims at a user-centered design and usability as-sessment for different age groups of a novel wearable augmented reality (AR) application composed of a multimodal sensor network and corresponding con-trol strategies for personalized biofeed...