This paper introduces the overall design of ALEX III, the third generation of Active Leg Exoskeletons developed by our group. ALEX III is the first treadmill-based rehabilitation robot featuring 12 actively controlled degrees of freedom (DOF): 4 at the pelvis and 4 at each leg. As a first application of the device, we present an adaptive controller aimed to improve gait symmetry in hemiparetic subjects. The controller continuously modulates the assistive force applied to the impaired leg, based on the outputs of kernel-based non-linear filters, which learn the movements of the healthy leg. To test the effectiveness of the controller, we induced asymmetry in the gait of three young healthy subjects adding ankle weights (2.3kg). Results on kinematic data showed that gait symmetry was recovered when the controller was active.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training


    Beteiligte:
    Zanotto, Damiano (Autor:in) / Stegall, Paul (Autor:in) / Agrawal, Sunil K. (Autor:in)


    Erscheinungsdatum :

    2014-05-01


    Format / Umfang :

    757609 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Adaptive Control Strategy for Gait Rehabilitation Robot to Assist-When-Needed

    Chen, Gong / Ye, Jing / Liu, Quanquan et al. | IEEE | 2018



    Controlling patient participation during robot-assisted gait training

    Koenig, A / Omlin, X / Bergmann, J et al. | BASE | 2011

    Freier Zugriff

    Virtual reality for enhancement of robot-assisted gait training in children with central gait disorders

    Brütsch, K / Koenig, Alexander / Zimmerli, Lukas et al. | BASE | 2011

    Freier Zugriff