DocumentCode :
2630631
Title :
Patient adaptive control of end-effector based gait rehabilitation devices using a haptic control framework
Author :
Hussein, Sami ; Krüger, Jörg
Author_Institution :
Rehabilitation Robot. Group (IPK/TU Berlin), Tech. Univ. of Berlin, Berlin, Germany
fYear :
2011
fDate :
June 29 2011-July 1 2011
Firstpage :
1
Lastpage :
6
Abstract :
Robot assisted training has proven beneficial as an extension of conventional therapy to improve rehabilitation outcome. Further facilitation of this positive impact is expected from the application of cooperative control algorithms to increase the patient´s contribution to the training effort according to his level of ability. This paper presents an approach for cooperative training for end-effector based gait rehabilitation devices. Thereby it provides the basis to firstly establish sophisticated cooperative control methods in this class of devices. It uses a haptic control framework to synthesize and render complex, task specific training environments, which are composed of polygonal primitives. Training assistance is integrated as part of the environment into the haptic control framework. A compliant window is moved along a nominal training trajectory compliantly guiding and supporting the foot motion. The level of assistance is adjusted via the stiffness of the moving window. Further an iterative learning algorithm is used to automatically adjust this assistance level. Stable haptic rendering of the dynamic training environments and adaptive movement assistance have been evaluated in two example training scenarios: treadmill walking and stair climbing. Data from preliminary trials with one healthy subject is provided in this paper.
Keywords :
adaptive control; elastic constants; gait analysis; handicapped aids; haptic interfaces; patient rehabilitation; patient treatment; cooperative control algorithms; end-effector based gait rehabilitation devices; foot motion; haptic control framework; iterative learning algorithm; patient adaptive control; polygonal primitives; robot assisted training; stair climbing; stiffness; task specific training environments; treadmill walking; Foot; Force; Haptic interfaces; Legged locomotion; Training; Trajectory; Algorithms; Equipment Design; Gait; Humans; Robotics; Stroke;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
ISSN :
1945-7898
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
Type :
conf
DOI :
10.1109/ICORR.2011.5975451
Filename :
5975451
Link To Document :
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