DocumentCode
2631381
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
fYear
2007
fDate
10-14 April 2007
Firstpage
4140
Lastpage
4145
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364115
Filename
4209733
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