Adjustment of instantaneous reference walking speed during synchronized robot-based gait rehabilitation

This paper presents a method to adjust the instantaneous reference speed of the mobile platform or treadmill of robotic gait rehabilitation systems during compliant, synchronized therapy. This method is particularly useful when the robot-patient synchronization algorithms generate compensations that...

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Bibliographic Details
Published in:Current directions in biomedical engineering 2017-03, Vol.3 (1), p.49-52
Main Authors: Martinez, Santiago Focke, Kuzmicheva, Olena, Graeser, Axel
Format: Article
Language:English
Subjects:
gait rehabilitation
human-robot interaction
synchronization
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Summary:This paper presents a method to adjust the instantaneous reference speed of the mobile platform or treadmill of robotic gait rehabilitation systems during compliant, synchronized therapy. This method is particularly useful when the robot-patient synchronization algorithms generate compensations that fluctuate significantly throughout the gait cycle, making it unsuitable to apply these compensations directly to the reference speed values. The method was tested with a synchronization algorithm that generates continues temporal-compensations based on a phase controller. The tests comprised simulation of different scenarios and a practical test with a healthy subject using an over-ground gait rehabilitation system.
ISSN:2364-5504
2364-5504
DOI:10.1515/cdbme-2017-0011