Swinging from the hip: use of dynamic motion optimization in the design of robotic gait rehabilitation

Author

Wang, Chia-Yu E. ; Bobrow, James E. ; Reinkensmeyer, David J.

Author_Institution

Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

1433

Abstract

We examine a method to control the stepping motion of a paralyzed person suspended on a treadmill using a robot attached to the torso and hips. A leg swing motion is created by moving the hips without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem is converted into a discrete parameter optimization and an efficient gradient-based algorithm is used to solve it. Motion capture data from a human subject is compared to the results from the dynamic motion optimization. Our results indicate that it is possible for the robot to create a gait for the paralyzed person that is close to that of an unimpaired subject.

Keywords

gradient methods; handicapped aids; medical robotics; motion control; optimal control; optimisation; robot dynamics; dynamic motion optimization; gradient-based algorithm; optimal control; paralyzed person; robotic gait rehabilitation; stepping motion control; treadmill; underactuated articulated chain; Aerodynamics; Design optimization; Hip; Humans; Leg; Legged locomotion; Rehabilitation robotics; Robots; Spinal cord injury; Torso;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932811

Filename

932811