Human step rehabilitation using a robot attached to the pelvis

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Volumn 73, Issue 1 PART A, 2004, Pages 443-449

  Aoyagi, D ^a   Ichinose, W E ^a   Reinkensmeyer, D J ^a   Bobrow, J E ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

Force control; Hierarchical control; Locomotion; Pneumatic control; Rehabilitation; Robotics

Indexed keywords

DATA REDUCTION; EXERCISE EQUIPMENT; FORCE CONTROL; GAIT ANALYSIS; HIERARCHICAL SYSTEMS; PNEUMATIC CONTROL; ROBOTS;

BODY WEIGHT SUPPORT (BWS); HIERARCHICAL CONTROL; LOCOMOTION; PELVIC ASSIST MANIPULATOR (PAM);

HUMAN REHABILITATION EQUIPMENT;

EID: 19644367745     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2004-59472     Document Type: Conference Paper

References (9)

1. Werner, C., von Frankenberg, S., Treig, T., Konrad, M., and Hesse, S., 2002. "Treadmill training with partial body weight support and an electromechanical gait trainer for restoration of gait in subacute stroke patients - a randomized crossover study". Stroke, 33 (12) Dec, pp. 2895-2901.
2. Edgerton, V., de Leon, R., Harkema, S., Hodgson, J., London, N., Reinkensmeyer, D., Roy, R., Talmadge, R., Tillakaratne, N., Timoszyk, W., and Tobin, A., 2001. "Retraining the injured spinal cord". Journal of Physiology-London, 533 (1) May, pp. 15-22.
3. Jezernik, S., Colombo, G., Keller, T., Frueh, H., and Morari, M., 2003. "Robotic orthosis lokomat: A rehabilitation and research tool". Neuromodulation, 6 (2) Apr, pp. 108-115.
4. Hesse, S., and Uhlenbrock, D., 2000. "A mechanized gait trainer for restoration of gait". Journal of Rehabilitation Research and Development, 37 (6) Nov-Dec, pp. 701-708.
5. Reinkensmeyer, D., Wynne, J., and Harkema, S., 2002. "A robotic tool for studying locomotor adaptation and rehabilitation". Proceedings of the Second Joint Meeting of the IEEE Engineering in Medicine and Biology Society and the Biomedical Engineering Society, EMBS/BMES Conference October 23-26, pp. 2353-2354.
6. Inman, V., Ralston, H., and Todd, F., 1986. Human Walking. Williams & Wilkins, Baltimore, pp. 41-45.
7. Ichinose, W., Reinkensmeyer, D., Aoyagi, D., Lin, J., Ngai, K., Edgerton, V., Harkema, S., and Bobrow, J., 2003. "A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation". Proceedings of the 2003 IEEE Engineering in Medicine and Biology Society Meeting pp. 1690-1693.
8. McDonell, B., and Bobrow, J., 1998. "Modeling, identification, and control of a pneumatically actuated, force controllable robot". IEEE Transactions on Robotics and Automation, 14, pp. 732-742.
9. Wang, C., Bobrow, J., and Reinkensmeyer, D., 2001. "Swinging from the hip: use of dynamic motion optimization in the design of robotic gait rehabilitation". Proceedings 2001 IEEE International Conference on Robotics and Automation, pp. 1433-1438.