Compliant velocity based force coordinate transformation control for gait rehabilitation

Misako Sasayama, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

With the rapid increase in the aging population of Japan, the need for robotic gait training has grown. This paper presents a gait training device that guides the leg movements during gait, and a gait rehabilitation system using compliant force coordinate transformation control (CFCT) is proposed. The CFCT controller uses the direction of force applied by the patient to the device, and through coordinate transformation, divides the force into tangential and normal components based on the reference trajectory. Then, the force is applied to a compliance controller to smoothly guide the subjects' legs in the intended direction. Switching conditions, which ensures the correct movement of the gait guidance, are designed to be used in pair with the CFCT controller. The controller is evaluated through experiments.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages254-259
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Rehabilitation
Coordinate Transformation
Gait
Patient rehabilitation
Controllers
Controller
Robotics
Aging of materials
Trajectories
Japan
Compliance
Guidance
Divides
Trajectory
Experiments
Experiment

Keywords

  • Compliance control
  • Coordinate transformation
  • Gait conditions
  • Gait phase transition
  • Rehabilitation device

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Sasayama, M., & Murakami, T. (2014). Compliant velocity based force coordinate transformation control for gait rehabilitation. In International Workshop on Advanced Motion Control, AMC (pp. 254-259). [6823291] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823291

Compliant velocity based force coordinate transformation control for gait rehabilitation. / Sasayama, Misako; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 254-259 6823291.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sasayama, M & Murakami, T 2014, Compliant velocity based force coordinate transformation control for gait rehabilitation. in International Workshop on Advanced Motion Control, AMC., 6823291, Institute of Electrical and Electronics Engineers Inc., pp. 254-259, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823291
Sasayama M, Murakami T. Compliant velocity based force coordinate transformation control for gait rehabilitation. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 254-259. 6823291 https://doi.org/10.1109/AMC.2014.6823291
Sasayama, Misako ; Murakami, Toshiyuki. / Compliant velocity based force coordinate transformation control for gait rehabilitation. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 254-259
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