Modelling and Control of a Novel Walker Robot for Post-Stroke Gait Rehabilitation

被引：0

作者：

Sariyildiz, Emre ^{[1
]}

Cheng, Hsiao-Ju ^{[2
]}

Yagli, Gokhan Mert ^{[2
]}

Yu, Haoyong ^{[2
]}

机构：

[1] Univ Wollongong, Sch Mech Mat Mechatron & Biomed Engn, Wollongong, NSW 2522, Australia

[2] Natl Univ Singapore, Dept Biomed Engn, Singapore, Singapore

来源：

IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2017年

关键词：

Human Robot Interaction; Kinematic and Dynamic Models; Stroke Rehabilitation; Walker Robot; STROKE PATIENTS; DEPRESSION; RECOVERY; RESTORATION; DISABILITY; TRAINER; FORCE;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper, a novel walker robot is proposed for post-stroke gait rehabilitation. It consists of an omni-directional mobile platform which provides high mobility in horizontal motion, a linear motor that moves in vertical direction to support the body weight of a patient and a 6-axis force/torque sensor to measure interaction force/torque between the robot and patient. The proposed novel walker robot improves the mobility of pelvis so it can provide more natural gait patterns in rehabilitation. This paper analytically derives the kinematic and dynamic models of the novel walker robot. Simulation results are given to validate the proposed kinematic and dynamic models.

引用

页码：5221 / 5226

页数：6

共 50 条

[1] A Robot-based Gait Training System for Post-Stroke Rehabilitation
Banh, Sharon
Zheng, Emily
Kubota, Alyssa
Riek, Laurel D.
HRI '21: COMPANION OF THE 2021 ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION, 2021, : 452 - 456
[2] Effects of control strategies on gait in robot-assisted post-stroke lower limb rehabilitation: a systematic review
Campagnini, Silvia
Liuzzi, Piergiuseppe
Mannini, Andrea
Riener, Robert
Carrozza, Maria Chiara
JOURNAL OF NEUROENGINEERING AND REHABILITATION, 2022, 19 (01)
[3] An Adaptive Shared Control of a Novel Robotic Walker for Gait Rehabilitation of Stroke Patients
Ye, Jing
Chen, Gong
Liu, Quanquan
Duan, Lihong
Shang, Wanfeng
Yao, Xifan
Long, Jianjun
Wang, Yulong
Wu, Zhengzhi
Wang, Chunbao
2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR), 2018, : 373 - 378
[4] Insole Plantar Pressure Systems in the Gait Analysis of Post-stroke Rehabilitation
Qin, Lai-yin
Ma, Hao
Liao, Wei-Hsin
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2015, : 1784 - 1789
[5] Powered robotic exoskeletons in post-stroke rehabilitation of gait: a scoping review
Louie, Dennis R.
Eng, Janice J.
JOURNAL OF NEUROENGINEERING AND REHABILITATION, 2016, 13
[6] Novel Advances to Post-Stroke Aphasia Pharmacology and Rehabilitation
Cichon, Natalia
Wlodarczyk, Lidia
Saluk-Bijak, Joanna
Bijak, Michal
Redlicka, Justyna
Gorniak, Leslaw
Miller, Elzbieta
JOURNAL OF CLINICAL MEDICINE, 2021, 10 (17)
[7] Exoskeleton use in post-stroke gait rehabilitation: a qualitative study of the perspectives of persons post-stroke and physiotherapists
Vaughan-Graham, Julie
Brooks, Dina
Rose, Lowell
Nejat, Goldie
Pons, Jose
Patterson, Kara
JOURNAL OF NEUROENGINEERING AND REHABILITATION, 2020, 17 (01)
[8] A 4 DOF Robot for Post-Stroke Trunk Rehabilitation
Eizad, Amre
Pyo, Sanghun
Lee, Hosu
Afzal, Muhammad Raheel
Yoon, Jungwon
Lyu, Sung-ki
2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019), 2019, : 514 - 519
[9] Robotic Biofeedback for Post-Stroke Gait Rehabilitation: A Scoping Review
Pinheiro, Cristiana
Figueiredo, Joana
Cerqueira, Joao
Santos, Cristina P.
SENSORS, 2022, 22 (19)
[10] Effects of gait rehabilitation with a footpad-type locomotion interface in patients with chronic post-stroke hemiparesis: a pilot study
Tanaka, Naoki
Saitou, Hideyuki
Takao, Toshifumi
Iizuka, Noboru
Okuno, Junko
Yano, Hiroaki
Tamaoka, Akira
Yanagi, Hisako
CLINICAL REHABILITATION, 2012, 26 (08) : 686 - 695

← 1 2 3 4 5 →