The rehabilitation robot Lokomat allows automated treadmill training for patients with neurological gait disorders. The basic position control approach for the robot has been extended to patient-cooperative strategies. These strategies provide more freedom and allow patients to actively influence their training. However, patients are likely to need additional support during patient-cooperative training. In this paper, we propose an algorithm based on iterative learning control that shapes a supportive torque field. The torque field is supposed to assist the patient as much as needed in performing the desired task. We evaluated the algorithm in a proof-of-concept experiment with 3 healthy subjects. Results showed that the amount of support was automatically adapted to the activity and the individual needs of the subjects. Furthermore, the support improved the performance of the subjects.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Adaptive support for patient-cooperative gait rehabilitation with the Lokomat


    Beteiligte:
    Duschau-Wicke, A (Autor:in) / Brunsch, T (Autor:in) / Lünenburger, L (Autor:in) / Riener, R (Autor:in)

    Erscheinungsdatum :

    2008-09-24


    Anmerkungen:

    Duschau-Wicke, A; Brunsch, T; Lünenburger, L; Riener, R (2008). Adaptive support for patient-cooperative gait rehabilitation with the Lokomat. IEEE International Conference on Intelligent Robots and Systems. Proceedings, 2008:2357 -2361.



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Locomotor training in subjects with sensori-motor deficits: An overview of the robotic gait orthosis lokomat

    Riener, R / Lünenburger, L / Maier, I C et al. | BASE | 2010

    Freier Zugriff

    Path control: a method for patient-cooperative robot-aided gait rehabilitation

    Duschau-Wicke, A / von Zitzewitz, J / Caprez, A et al. | BASE | 2010

    Freier Zugriff

    Influence of the robotic exoskeleton Lokomat on the control of human gait : an electromyographic and kinematic analysis

    Barroso, Filipe André Oliveira / Santos, Cristina / Moreno, Juan C. | BASE | 2013

    Freier Zugriff

    Patient-cooperative robot-aided gait rehablilitation

    Duschau-Wicke, Alexander H. B. | TIBKAT | 2010