An intrinsically compliant robotic orthosis was developed to provide customized robot assisted gait training for the neurorehabilitaion of stroke and spinal cord injured (SCI) subjects. The robotic orthosis is powered by pneumatic muscle actuators (PMA). A control scheme was developed that can guide the subject’s limbs on reference trajectories as well as can provide variable compliance. The control scheme was evaluated on a neurologically intact subject and the results show that the control scheme can deliver its intended effect.
Customized Robot Aided Gait Training for NeuroRehabilitation
Biosystems & Biorobotics
Converging Clinical and Engineering Research on Neurorehabilitation ; Kapitel : 37 ; 237-241
2013-01-01
5 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Patient-cooperative robot-aided gait rehablilitation
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