Control of time-critical robotic rehabilitation

Author

Gruener, G.

Author_Institution

Inst. of Robotics, Swiss Fed. Inst. of Technol., Zurich, Switzerland

Volume

1

fYear

1999

fDate

1999

Abstract

Robotic rehabilitation of time-critical tasks, such as treadmill training, needs a special kind of control that not only moves the limb in question but also allows the patient the liberty to perform his/her own efforts, especially as therapy progresses, while closely monitoring the stability and safety of the patient. The authors present a Shared Force Control strategy that includes an impedance controller to deal with uncertainties and an adaptive gait pattern band defined by a nominal gait pattern bound by allowed motion tolerances

Keywords

biocontrol; biomechanics; controllers; force control; medical robotics; patient rehabilitation; adaptive gait pattern band; allowed motion tolerances; impedance controller; limb movement; nominal gait pattern; patient safety; patient stability; shared force control strategy; time-critical robotic rehabilitation control; time-critical tasks; treadmill training; uncertainties; Force control; Impedance; Medical treatment; Motion control; Patient monitoring; Railway safety; Rehabilitation robotics; Robot control; Stability; Time factors;

fLanguage

English

Publisher

ieee

Conference_Titel

[Engineering in Medicine and Biology, 1999. 21st Annual Conference and the 1999 Annual Fall Meetring of the Biomedical Engineering Society] BMES/EMBS Conference, 1999. Proceedings of the First Joint

Conference_Location

Atlanta, GA

ISSN

1094-687X

Print_ISBN

0-7803-5674-8

Type

conf

DOI

10.1109/IEMBS.1999.802707

Filename

802707