Title :
A robotic tool for studying locomotor adaptation and rehabilitation
Author :
Reinkensmeyer, D.J. ; Wynne, J.H. ; Harkema, S.J.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
Abstract :
This paper describes a robotic device designed to measure and manipulate human stepping on a treadmill. The device makes use of a parallel mechanism and a moving coil type linear motor to achieve good backdriveability and force generation capability. We demonstrate that the device does not substantially impede stepping when attached passively to a subject, and can induce motor adaptation and after-effects in a simple force-field experiment.
Keywords :
biocontrol; biomechanics; biomedical measurement; linear motors; medical robotics; patient rehabilitation; backdriveability; force generation capability; human stepping; locomotor adaptation; motor control; moving coil type linear motor; robotic tool; simple force-field experiment; treadmill; Actuators; Coils; Force control; Impedance; Injuries; Medical treatment; Motor drives; Nervous system; Rehabilitation robotics; Robot sensing systems;
Conference_Titel :
Engineering in Medicine and Biology, 2002. 24th Annual Conference and the Annual Fall Meeting of the Biomedical Engineering Society EMBS/BMES Conference, 2002. Proceedings of the Second Joint
Print_ISBN :
0-7803-7612-9
DOI :
10.1109/IEMBS.2002.1053318
