Realization of gait rehabilitation using compliant force coordinate transformation control

Misako Sasayama, Toshiyuki Murakami

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ3982-3987
ページ数6
DOI
出版物ステータスPublished - 2013 12 1
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11 102013 11 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Austria
Vienna
期間13/11/1013/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • これを引用

    Sasayama, M., & Murakami, T. (2013). Realization of gait rehabilitation using compliant force coordinate transformation control. : Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 3982-3987). [6699772] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699772