This dissertation presents a group of novel methods for robot-based gait rehabilitation which were developed aiming to offer more individualized therapies based on the specific condition of each patient, as well as to improve the overall rehabilitation experience for both patient and therapist. A novel methodology for gait pattern generation is proposed, which offers estimated hip and knee joint trajectories corresponding to healthy walking, and allows the therapist to graphically adapt the reference trajectories in order to fit better the patient's needs and disabilities. Additionally, the motion controllers for the hip and knee joints, mobile platform, and pelvic mechanism of an over-ground gait rehabilitation robotic system are also presented, as well as some proposed methods for "assist as needed" therapy. Two robot-patient synchronization approaches are also included in this work, together with a novel algorithm for online hip trajectory adaptation developed to reduce obstructive forces applied to the patient during therapy with compliant robotic systems. Finally, a prototype graphical user interface for the therapist is also presented.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Joint Trajectory Generation and High-level Control for Patient-tailored Robotic Gait Rehabilitation ; Trajectorie Erzeugung und high-level Regelung für Patient-maßgeschneiderte Roboter-Gangrehabilitation



    Erscheinungsdatum :

    2017-05-23


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    620 / 629




    Joint Trajectory Generation and High-level Control for Patient-tailored Robotic Gait Rehabilitation

    Focke Martinez, Santiago / Shaker Verlag | TIBKAT | 2017

    Freier Zugriff


    Tailored Orbitals - maßgeschneiderte Komponenten für die Automobilindustrie

    Zimmermann, Klaus / Mai, Andreas | Tema Archiv | 2006


    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