Generalized elasticities improve patient-cooperative control of rehabilitation robots

2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Volumn , Issue , 2009, Pages 535-541

  Vallery, Heike ^a,b   Duschau Wicke, Alexander ^a,c   Riener, Robert ^a,b  

^a ETH ZURICH   (Switzerland)

^b BALGRIST UNIVERSITY HOSPITAL   (Switzerland)

^c HOCOMA AG   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

CO-OPERATIVE CONTROL; CONSERVATIVE FORCE; INTERACTION FORCES; REHABILITATION ROBOT; ROBOT DYNAMICS;

ELASTICITY; PATIENT REHABILITATION; ROBOTICS;

ROBOTS;

EID: 70449382036     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICORR.2009.5209595     Document Type: Conference Paper

References (32)

1. G. Kwakkel, R. van Peppen, R. C. Wagenaar, S. Wood Dauphinee, C. Richards, A. Ashburn, K. Miller, N. Lincoln, C. Partridge, I. Wellwood, and P. Langhorne. Effects of augmented exercise therapy time after stroke: a meta-analysis. Stroke, 35:2529-39, 2004.
2. R. Teasell, J. Bitensky, K. Salter, and N. A. Bayona. The role of timing and intensity of rehabilitation therapies. Topics in Stroke Rehabilitation, 12(3):46-57, 2005.
3. G. Colombo, M. Wirz, and V. Dietz. Driven gait orthosis for improvement of locomotor training in paraplegic patients. Spinal Cord, 39(5):252-255, 2001.
4. S. Hesse, D. Uhlenbrock, and T. Sarkodie-Gyan. Gait pattern of severely disabled hemiparetic subjects on a new controlled gait trainer as compared to assisted treadmill walking with partial body weight support. Clinical Rehabilitation, 13:401-10., 1999.
5. T. G. Hornby, D. D. Campbell, J. H. Kahn, T. Demott, J. L. Moore, and H. R. Roth. Enhanced gait-related improvements after therapist- versus robotic-assisted locomotor training in subjects with chronic stroke: a randomized controlled study. Stroke, 39(6):1786-1792, 2008.
6. J. Hidler, D. Nichols, M. Pelliccio, K. Brady, D. D. Campbell, J. H. Kahn, and T. G. Hornby. Multicenter randomized clinical trial evaluating the effectiveness of the lokomat in subacute stroke. Neurorehabilitation and Neural Repair, 23(1):5-13, 2009.
7. R. Shadmehr and F. A. Mussa-Ivaldi. Adaptive representation of dynamics during learning of a motor task. Journal of Neuroscience, 14:3208-24, 1994.
8. R. A. Scheidt, J. B. Dingwell, and F. A. Mussa-Ivaldi. Learning to move amid uncertainty. Journal of Neurophysiology, 86:971-85, 2001.
9. E. Taub, G. Uswatte, and R. Pidikiti. Constraint-induced movement therapy: a new family of techniques with broad application to physical rehabilitation: a clinical review. Journal of Rehabilitation Research & Development, 36(3):237-51, 1999.
10. L. L. Cai, A. J. Fong, C. K. Otoshi, Y. Liang, J. W. Burdick, R. R. Roy, and V. R. Edgerton. Implications of assist-as-needed robotic step training after a complete spinal cord injury on intrinsic strategies of motor learning. Journal of Neuroscience, 26(41):10564-8, 2006.
11. N. Hogan, H. I. Krebs, B. Rohrer, J. J. Palazzolo, L. Dipietro, S. E. Fasoli, J. Stein, R. Hughes, W. R. Frontera, D. Lynch, and B. T. Volpe. Motions or muscles?: Some behavioral factors underlying robotic assistance of motor recovery. Journal of Rehabilitation Research & Development, 43(5):605-18, 2006.
12. H. I. Krebs, J. J. Palazzolo, L. Dipietro, B. T. Volpe, and N. Hogan. Rehabilitation robotics: Performance-based progressive robot-assisted therapy. Autonomous Robots, 15:7-20, 2003.
13. G. A. Pratt, M. M. Williamson, P. Dillworth, J. Pratt, K. Ulland, and A. Wright. Stiffness Isn't Everything. In International Symposium on Experimental Robotics (ISER). 1995.
14. H. Vallery, J. Veneman, E. van Asseldonk, R. Ekkelenkamp, M. Buss, and H. van der Kooij. Compliant Actuation of Rehabilitation Robots - Benefits and Limitations of Series Elastic Actuators. IEEE Robotics and Automation Magazine (RAM), 15(3):60-69, 2008.
15. N. Hogan. Impedance control: An approach to manipulation. Part I - Theory, Part II - Implementation, Part III - Applications. ASME Journal of Dynamic Systems, Measurement, and Control, 107:1-24, 1985.
16. E. Colgate and N. Hogan. An analysis of contact instability in terms of passive physical equivalents. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 404-409. Scottsdale, AZ, USA, 1989.
17. B. S. und O. Khatib (ed.). Handbook of Robotics. Springer, 2008.
18. P.-C. Kao and D. P. Ferris. The effect of movement frequency on interlimb coupling during recumbent stepping. Motor Control, 9(2):144-163, 2005.
19. J. F. Veneman, R. Ekkelenkamp, R. Kruidhof, F. van der Helm, and H. van der Kooij. A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots. International Journal of Robotic Research, 25(3):261-281, 2006.
20. A. J. van den Bogert. Exotendons for assistance of human locomotion. Biomed Eng Online, 2:17, 2003.
21. D. P. Ferris, Z. A. Bohra, J. R. Lukos, and C. R. Kinnaird. Neuromechanical adaptation to hopping with an elastic ankle-foot orthosis. J Appl Physiol, 100(1):163-170, 2006.
22. H. Vallery, A. Duschau-Wicke, and R. Riener. Passive Dynamics Improve Exoskeleton Transparency. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2009, to appear.
23. J. E. Colgate. The Control of Dynamically Interacting Systems. Ph.D. thesis, MIT Department of Mechanical Engineering, 1988.
24. A. Duschau-Wicke, J. von Zitzewitz, M. Wellner, A. König, L. Lünenburger, and R. Riener. Path Control - A Strategy for Patient-Cooperative Training of Gait Timing. In Proc. 7th Automed Workshop, pp. 1-2. Munich, 2007.
25. R. Riener, L. Lünenburger, S. Jezernik, M. Anderschitz, G. Colombo, and V. Dietz. Patient-cooperative strategies for robot-aided treadmill training: first experimental results. IEEE Trans. Neural Syst. Rehabil. Eng., 13(3):380-394, 2005.
26. G. Colombo, M. Joerg, R. Schreier, and V. Dietz. Treadmill training of paraplegic patients using a robotic orthosis. J Rehabil Res Dev, 37(6):693-700, 2000.
27. A. Duschau-Wicke, J. von Zitzewitz, R. Banz, and R. Riener. Iterative Learning Synchronization of Robotic Rehabilitation Tasks. In 10th International Conference on Rehabilitation Robotics (ICORR), pp. 335-340. 2007.
28. A. Iske. Multiresolution Methods in Scattered Data Modelling. Lecture Notes in Computational Science and Engineering. Springer-Verlag, Heidelberg, 2004.
29. H. Wendland. Piecewise polynomial, positive definite and compactly supported radial functions of minimal degree. Advances in Computational Mathematics, 4(1):389-396, 1995.
30. J. Perry. Gait Analysis: Normal and Pathological Function. Delmar Learning, 1992.
31. J. D. Gibbons. Nonparametric Statistical Inference. Marcel Dekker Ltd, 1985.
32. N. A. Bayona, J. Bitensky, K. Salter, and R. Teasell. The role of task-specific training in rehabilitation therapies. Topics in Stroke Rehabilitation, 12:58-65, 2005.