Title :
A robotic device for manipulating human stepping
Author :
Emken, Jeremy L. ; Wynne, John H. ; Harkema, Susan J. ; Reinkensmeyer, David J.
Author_Institution :
Biomed. Eng. Dept., Univ. of California, Irvine, CA, USA
Abstract :
This paper provides a detailed design description and technical testing results of a device for studying motor learning and rehabilitation of human locomotion. The device makes use of linear motors and a parallel mechanism to achieve a wide dynamic force bandwidth as it interacts with the leg during treadmill stepping.
Keywords :
manipulators; medical robotics; patient rehabilitation; detailed design description; human locomotion rehabilitation; human stepping manipulation; linear motors; motor learning; parallel mechanism; robotic device; technical testing results; treadmill stepping; wide dynamic force bandwidth; Bandwidth; Biomedical engineering; Couplings; Haptic interfaces; Humans; Injuries; Leg; Legged locomotion; Rehabilitation robotics; Service robots; Linear motor; locomotion; motion measurement; robots;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2005.861481
