A system for gait rehabilitation: mobile manipulator approach

Author

Lee, Choon-Young ; Seo, Kap-Ho ; Kim, Chang-Hyun ; Oh, Sang-Keon ; Lee, Ju-Jang

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea

Volume

3

fYear

2002

fDate

2002

Firstpage

3254

Lastpage

3259

Abstract

A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mobile manipulator used to compensate for dynamic interactions, unmodeled dynamics, and disturbances by the user on the system, is derived and experimental results are shown

Keywords

compensation; manipulators; mobile robots; neurocontrollers; patient rehabilitation; compensation; disturbances; dynamic interactions; exercise; gait rehabilitation system; mobile base; mobile manipulator; neural network based control algorithm; power-assisted gait rehabilitation robot system; robotic manipulator; unmodeled dynamics; Control systems; Humans; Legged locomotion; Manipulator dynamics; Mobile robots; Neural networks; Rehabilitation robotics; Robot vision systems; Senior citizens; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013728

Filename

1013728