Realization of gait rehabilitation using compliant force coordinate transformation control

Misako Sasayama, Toshiyuki Murakami

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

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages3982-3987
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

Keywords

  • End effectors
  • Force control
  • Gait recognition
  • Human-robot interaction
  • Path planning
  • Rehabilitation robotics
  • Sensorless control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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