TY - GEN
T1 - Realization of gait rehabilitation using compliant force coordinate transformation control
AU - Sasayama, Misako
AU - Murakami, Toshiyuki
PY - 2013/12/1
Y1 - 2013/12/1
N2 - With the rapid increase in aging population of many developed countries, the need for robotic gait training has grown. This paper presents a novel gait rehabilitation system, where conditions for realizing 'stable gait' are first defined, and then the control system is designed to be adjustable and compliant to patients of different walking abilities, while also satisfying the gait conditions. The proposed controller focuses on the reaction force of the end-effecter connected to the patient's lower legs, and coordinate transformation is used to divide the reaction force into tangential and normal components based on the command trajectory, and a virtual force-railway-like trajectory is constructed to guide the leg movements in the correct direction. A gain η is introduced in the controller to adjust the flexibility of the force-railway. Experiments are done to verify the effectiveness of the proposed controller.
AB - With the rapid increase in aging population of many developed countries, the need for robotic gait training has grown. This paper presents a novel gait rehabilitation system, where conditions for realizing 'stable gait' are first defined, and then the control system is designed to be adjustable and compliant to patients of different walking abilities, while also satisfying the gait conditions. The proposed controller focuses on the reaction force of the end-effecter connected to the patient's lower legs, and coordinate transformation is used to divide the reaction force into tangential and normal components based on the command trajectory, and a virtual force-railway-like trajectory is constructed to guide the leg movements in the correct direction. A gain η is introduced in the controller to adjust the flexibility of the force-railway. Experiments are done to verify the effectiveness of the proposed controller.
KW - End effectors
KW - Force control
KW - Gait recognition
KW - Human-robot interaction
KW - Path planning
KW - Rehabilitation robotics
KW - Sensorless control
UR - http://www.scopus.com/inward/record.url?scp=84893574913&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893574913&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6699772
DO - 10.1109/IECON.2013.6699772
M3 - Conference contribution
AN - SCOPUS:84893574913
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 3982
EP - 3987
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -