Title :
A Powered Leg Orthosis for Gait Rehabilitation of Motor-Impaired Patients
Author :
Banala, Sai K. ; Kulpe, Alexander ; Agrawal, Sunil K.
Author_Institution :
Dept. of Mech. Eng., Delaware Univ., Newark, DE
Abstract :
This paper describes a powered leg orthosis for gait rehabilitation of patients with walking disabilities. The paper proposes controllers which can apply suitable forces on the leg so that it moves on a desired trajectory. The description of the controllers, simulations and experimental results with the powered orthosis are presented in the paper. Currently, experiments have been performed with a dummy leg in the orthosis. In the coming months, this powered orthosis will be used on healthy subjects and stroke patients.
Keywords :
force control; handicapped aids; medical control systems; orthotics; motor-impaired patients; patient gait rehabilitation; powered leg orthosis; walking disabilities; Exoskeletons; Extremities; Force control; Hip; Humans; Leg; Legged locomotion; Mechanical systems; Rehabilitation robotics; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364115
