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Adaptive Patientenunterstützung für Rehabilitationsroboter


Duschau-Wicke, A; Morger, A; Vallery, H; Riener, R (2010). Adaptive Patientenunterstützung für Rehabilitationsroboter. at - Automatisierungstechnik, 58(5):260-268.

Abstract

Rehabilitation robots support rehabilitation of patients with neurological movement disorders. Newly developed patient-cooperative control approaches aim at enabling the robots to perform more effective trainings, which are tailored to individual patients. This paper presents two approaches to automatically adapt robotic support: The iterative learning feedforward control is able to support movements with defined timing. The iterative learning conservative force field can also support movements with free timing. Both approaches are demonstrated in an example application with the gait rehabilitation robot Lokomat.

Abstract

Rehabilitation robots support rehabilitation of patients with neurological movement disorders. Newly developed patient-cooperative control approaches aim at enabling the robots to perform more effective trainings, which are tailored to individual patients. This paper presents two approaches to automatically adapt robotic support: The iterative learning feedforward control is able to support movements with defined timing. The iterative learning conservative force field can also support movements with free timing. Both approaches are demonstrated in an example application with the gait rehabilitation robot Lokomat.

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4 citations in Web of Science®
5 citations in Scopus®
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Additional indexing

Other titles:Adaptive Patient Support for Rehabilitation Robots
Item Type:Journal Article, 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:May 2010
Deposited On:09 Nov 2010 15:19
Last Modified:05 Apr 2016 14:15
Publisher:Oldenbourg
ISSN:0178-2312
Publisher DOI:https://doi.org/10.1524/auto.2010.0836

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