DocumentCode :
1982979
Title :
Novel actuation design of a gait trainer with shadow leg approach
Author :
Meuleman, Jos ; van Asseldonk, Edwin H. F. ; van der Kooij, Herman
Author_Institution :
Moog Robot., Nieuw-Vennep, Netherlands
fYear :
2013
fDate :
24-26 June 2013
Firstpage :
1
Lastpage :
8
Abstract :
Robotic gait training has developed since the end of the 20th century, yet there is much room for improvement in the design of the robots. With the conventional exoskeleton structures, donning of patients in a gait trainer usually is a cumbersome process due to the need of joint alignments and normal walking is often hindered due to obstructed arm swing. Our goal was to design a gait training robots that overcomes these limitations. We propose a novel design in which these drawbacks are reduced to a great amount. By using a parallel structure behind the patient (shadow leg) that is connected to the patient joints with rods, little alignment is needed, the area lateral to the hip is left free, and thus arm swing is not obstructed. The construction is lightweight, because the actuators are mounted on a fixed base and the transmission of power is executed with light weight rods. An end stop in the shadow leg prevents hyper extension of the patient´s knee. The relationship between motor displacement and human joint rotations is nonlinear. In this paper we derive the nonlinear relationships between motors and patient joints and verify these. calculations with a measurement. The device has been built, now tests with subjects are required to assess if subjects can indeed walk normally in the robot.
Keywords :
gait analysis; medical robotics; mobile robots; motion control; nonlinear control systems; patient rehabilitation; robot dynamics; actuation design; admittance control; exoskeleton structures; human joint rotations; joint alignments; motor displacement; normal walking; patient knee hyper extension; power transmission; robotic gait training; shadow leg approach; Hip; Joints; Knee; Legged locomotion; Thigh; Training; admittance control; exoskeleton; locomation; robotic gait trainer; rods; shadow leg;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on
Conference_Location :
Seattle, WA
ISSN :
1945-7898
Print_ISBN :
978-1-4673-6022-7
Type :
conf
DOI :
10.1109/ICORR.2013.6650369
Filename :
6650369
Link To Document :
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