DocumentCode :
3523129
Title :
A robotic exoskeleton for overground gait rehabilitation
Author :
Bortole, M. ; del Ama, A. ; Rocon, E. ; Moreno, J.C. ; Brunetti, F. ; Pons, J.L.
Author_Institution :
Bioeng. Group, Nat. Res. Council, Madrid, Spain
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
3356
Lastpage :
3361
Abstract :
Every year, stroke significantly affects thousands of individuals who require rehabilitation to regain lost movements and return to a normal life. Exoskeletons are becoming a very powerful tool to help therapists in this rehabilitation process. This work presents a robotic exoskeleton designed to assist overground gait training for stroke survivors with deficits in gait coordination despite conventional rehabilitation. The device is a bilateral exoskeleton with six degrees of freedom and is designed to implement two control strategies. An adaptive trajectory control has been developed to guide the patient´s limb within a desired path, allowing a deviation based on torque of interaction between the user and the exoskeleton. An admittance control strategy allows the robotic platform to capture the user´s movements during assistive training and to replicate it during active training. Experimental results show that the exoskeleton can adapt a pre-recorded gait pattern for the gait pattern of a specific user. Future investigations will evaluate the device in the rehabilitation of patients who have suffered from stroke and make a comparative analysis of the effectiveness of different robotic therapies.
Keywords :
gait analysis; medical robotics; patient rehabilitation; active training; adaptive trajectory control; admittance control strategy; assistive training; bilateral exoskeleton; gait coordination; overground gait rehabilitation; patient limb; prerecorded gait pattern; rehabilitation process; robotic exoskeleton; robotic platform; robotic therapies; stroke survivors; therapists; user movements; Actuators; Exoskeletons; Joints; Robots; Sensors; Torque; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631045
Filename :
6631045
Link To Document :
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