Title :
A system for gait rehabilitation: mobile manipulator approach
Author :
Lee, Choon-Young ; Seo, Kap-Ho ; Kim, Chang-Hyun ; Oh, Sang-Keon ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mobile manipulator used to compensate for dynamic interactions, unmodeled dynamics, and disturbances by the user on the system, is derived and experimental results are shown
Keywords :
compensation; manipulators; mobile robots; neurocontrollers; patient rehabilitation; compensation; disturbances; dynamic interactions; exercise; gait rehabilitation system; mobile base; mobile manipulator; neural network based control algorithm; power-assisted gait rehabilitation robot system; robotic manipulator; unmodeled dynamics; Control systems; Humans; Legged locomotion; Manipulator dynamics; Mobile robots; Neural networks; Rehabilitation robotics; Robot vision systems; Senior citizens; Wheels;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013728
