DocumentCode :
596353
Title :
A hybrid control method of an exoskeleton robot for intention-driven walking rehabilitation of stroke patients
Author :
Jun-Young Jung ; Min-Gi Chae ; In Hun Jang ; Hyunsub Park
Author_Institution :
Robot Convergence R&D Group, Korea Inst. of Ind. Technol., Ansan, South Korea
fYear :
2012
fDate :
26-28 Nov. 2012
Firstpage :
58
Lastpage :
60
Abstract :
When the robotic exoskeleton is used for gait rehabilitation, the robot should recognize the intention of patients before moving. We can consider recognition of intentions for the robot as recognition of a time (when the patient wants to move) and a behavior (what the patient wants to do). In this paper, the intent-detection method consisting of a gait phase recognizer and a gait pattern generator using neural networks is introduced. The effectiveness of the proposed method is verified briefly using recorded gait patterns.
Keywords :
gait analysis; medical robotics; neural nets; patient rehabilitation; gait pattern generator; gait phase recognizer; gait rehabilitation; hybrid control method; intent-detection method; intention-driven walking rehabilitation; neural networks; robotic exoskeleton; stroke patients; Artificial neural networks; Exoskeletons; Generators; Joints; Legged locomotion; CLME; gait pattern generator; gait phase recognizer; neural network;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
Type :
conf
DOI :
10.1109/URAI.2012.6462930
Filename :
6462930
Link To Document :
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