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Adaptive support for patient-cooperative gait rehabilitation with the Lokomat


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 .

Abstract

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.

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.

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Additional indexing

Item Type:Journal Article, not refereed, original work
Communities & Collections:04 Faculty of Medicine > Balgrist University Hospital, Swiss Spinal Cord Injury Center
Dewey Decimal Classification:610 Medicine & health
Language:English
Date:September 2008
Deposited On:09 Jan 2009 15:27
Last Modified:05 Apr 2016 12:45
Publisher:IEEE
Series Name:IEEE International Conference on Intelligent Robots and Systems. Proceedings
ISBN:978-1-424-42058-2
Additional Information:Online-Ressource, parallelen Printausg. u.d.T.: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. - © 2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publisher DOI:10.1109/IROS.2008.4650578
Official URL:http://ieeexplore.ieee.org/search/srchabstract.jsp?arnumber=4650578&isnumber=4650570&punumber=4637508&k2dockey=4650578@ieeecnfs&query=((duschau-wicke)%3Cin%3Emetadata)&pos=2&access=no
Permanent URL: http://doi.org/10.5167/uzh-9120

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