DocumentCode :
179831
Title :
Synchronization control scheme for gait training robot and treadmill
Author :
Karnjanaparichat, T. ; Pongvuthithum, R.
Author_Institution :
Dept. of Mech. Eng., Chiang Mai Univ., Chiang Mai, Thailand
fYear :
2014
fDate :
July 30 2014-Aug. 1 2014
Firstpage :
481
Lastpage :
485
Abstract :
Presently, gait training robots with treadmills have been widely used. If the robot and the treadmill lack of an appropriate synchronization, it may affected the performance of the whole system and foot slips on a moving treadmill may cause injuries to patients. Treadmill speed cannot be simply set as constant because foot speed is not constant throughout a gait cycle and the treadmill speed must only be the same as the touching foot in stance phase and the foot speed in swing phase must be ignored. This paper proposes a synchronization control scheme for a two-legged gait training robot and a treadmill. The treadmill speed is calculated based on the horizontal velocities of the left and right feet during the stance phase in order to adjust the treadmill speed. The effectiveness of the proposed synchronization method is confirmed by sixteen experimental tests with five healthy and three patient subjects.
Keywords :
gait analysis; legged locomotion; medical robotics; patient rehabilitation; synchronisation; foot speed; gait cycle; horizontal velocity; rehabilitation robot; stance phase; swing phase; synchronization control scheme; treadmill speed; two-legged gait training robot; Foot; Hip; Joints; Legged locomotion; Synchronization; Trajectory; Exoskeleton; Gait training robot; Rehabilitation robot; Speed synchronization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Science and Engineering Conference (ICSEC), 2014 International
Conference_Location :
Khon Kaen
Print_ISBN :
978-1-4799-4965-6
Type :
conf
DOI :
10.1109/ICSEC.2014.6978244
Filename :
6978244
Link To Document :
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