Design of an electric series elastic actuated joint for robotic gait rehabilitation training

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Volumn , Issue , 2010, Pages 21-26

  Lagoda, Claude ^a,b,c   Schouten, Alfred C ^a,b   Stienen, Arno H A ^a   Hekman, Edsko E G ^a   Van Der Kooij, Herman ^a,b  

^a UNIVERSITY OF TWENTE   (Netherlands)

^b DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

^c CSIC   (Spain)

Author keywords

Backdrivability; Impedance control; Rehabilitation; Series elastic actuator; Stroke

Indexed keywords

BACKDRIVABILITY; IMPEDANCE CONTROL; REHABILITATION; SERIES ELASTIC ACTUATORS; STROKE;

ACTUATORS; GAIT ANALYSIS; HUMAN ROBOT INTERACTION; POSITION CONTROL; ROBOTICS;

PATIENT REHABILITATION;

EID: 78650343723     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2010.5626010     Document Type: Conference Paper

References (20)

1. American Heart Association. International cardiovascular disease statistics. [Online], 2007. Statistical Fact Sheet - Populations 2007 Update.
2. American Heart Association. Heart disease and stroke statistics - 2009 update (at-a-glance version). [Online], 2009. Heart Disease and Stroke Statistics - 2009 Update.
3. S. K. Au, P. Dilworth, and H. M. Herr. An ankle-foot emulation system for the study of human walking biomechanics. Robotics and Automation, 2006. ICRA 2006, Proceedings 2006 IEEE International Conference on, pages 2939-2945, May 2006.
4. 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- 10568, Oct 2006.
5. Dined. Anthropometric data. [Online] www.dined.nl, 2004.
6. J. L. Emken, J. E. Bobrow, and D. J. Reinkensmeyer. Robotic movement training as an optimization problem: designing a controller that assists only as needed. Rehabilitation Robotics, 2005, ICORR 2005. 9th International Conference on, pages 307-312, Jun -1 Jul 2005.
7. N. Hogan. Impedance control: An approach to manipulation: Part i - theory, part ii - implementation, part iii - applications. Journal of Dynamic Systems, Measurement and Control, pages 1-24, 1985.
8. N. Hogan. Stable execution of contact tasks using impedance control. Robotics and Automation. Proceedings, 1987 IEEE International Conference on, 4:1047-1054, Mar 1987.
9. G. Kwakkel, B. J. Kollen, and H. I. Krebs. Effects of robot-assisted therapy on upper limb recovery after stroke: a systematic review. Neurorehabil Neural Repair, 22(2):111-121, Sep 2008.
10. F. Levi, F. Lucchini, E. Negri, and C. La Vecchia. Trends in mortality from cardiovascular and cerebrovascular diseases in europe and other areas of the world. Heart, 88(2):119-124, Aug 2002.
11. M. Lotze, C. Braun, N. Birbaumer, S. Anders, and L. G. Cohen. Motor learning elicited by voluntary drive. Brain, 126(Pt 4):866- 872, Apr 2003.
12. W. Matek. Roloff/Matek Maschinenelemente: Normung, Berechnung, Gestaltung, pages 277-278. Vieweg & Sohn Verlag, Braunschweig/Wiesbaden, 9 edition, 1985.
13. G. B. Prange, M. J. A. Jannink, C. G. M. Groothuis-Oudshoorn, H. J. Hermens, and M. J. Ijzerman. Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke. J Rehabil Res Dev, 43(2):171-184, Mar/Apr 2006.
14. J. E. Pratt, B. Krupp, and C. Morse. Series elastic actuators for high fidelity force control. Industrial Robot: An international robot, 29(3):234-241, 2002.
15. D. J. Reinkensmeyer, D. Aoyagi, J. L. Emken, J. A. Galvez, W. Ichinose, G. Kerdanyan, S. Maneekobkunwong, K. Minakata, J. A. Nessler, R. Weber, R. R. Roy, R. de Leon, J. E. Bobrow, S. J. Harkema, and V. R. Edgerton. Tools for understanding and optimizing robotic gait training. J Rehabil Res Dev, 43(5):657-670, Aug/Sep 2006.
16. D. W. Robinson and G. A. Pratt. Force controllable hydro-elastic actuator. Robotics and Automation, 2000. Proceedings, ICRA '00 IEEE International Conference on, 2:1321-1327, Apr 2000.
17. A. H. A. Stienen. Development of novel devices for upperextremity rehabilitation. PhD thesis, University of Twente, Twente, The Netherlands, Jan 2009.
18. A. H. A. Stienen, E. E. G. Hekman, H. ter Braak, A. M. M. Aalsma, F. C. T. van der Helm, and H. van der Kooij. Design of a rotational hydro-elastic actuator for an active upper-extremity rehabilitation exoskeleton. pages 881-888, Oct 2008.
19. J. F. Veneman, R. Kruidhof, E. E. G. Hekman, R. Ekkelenkamp, E. H. F. van Asseldonk, and H. van der Kooij. Design and evaluation of the lopes exoskeleton robot for interactive gait rehabilitation. Neural Systems and Rehabilitation Engineering, IEEE Transactions on, 15(3):379-386, Sep 2007.
20. D. A. Winter. Biomechanics and Motor Control of Human Movement. John Wiley & Sons, Inc, 4th edition, 1990.