A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation

被引：27

作者：

Ichinose, WE ^{[1
]}

Reinkensmeyer, DJ ^{[1
]}

Aoyagi, D ^{[1
]}

Lin, JT ^{[1
]}

Ngai, K ^{[1
]}

Edgerton, VR ^{[1
]}

Harkema, SJ ^{[1
]}

Bobrow, JE ^{[1
]}

机构：

[1] Univ Calif Irvine, Dept Mech & Aerosp Engn, Irvine, CA 92717 USA

来源：

PROCEEDINGS OF THE 25TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-4: A NEW BEGINNING FOR HUMAN HEALTH | 2003年 / 25卷

关键词：

locomotion; rehabilitation; robotics;

D O I：

10.1109/IEMBS.2003.1279715

中图分类号：

R5 [内科学];

学科分类号：

1002 ; 100201 ;

摘要：

This paper describes a robotic device for measuring and manipulating pelvic motion during step training on a treadmill. "PAM" (Pelvic Assist Manipulator) uses two, three-degree-of-freedom, pneumatic robots to measure and control the pelvis of a person during body weight supported stepping on a treadmill. The device can be used in a passive mode to record pelvic trajectories, either specified manually by a therapist or pre-recorded from unimpaired subjects, then replay these trajectories using a non-linear force control algorithm. Data are presented that demonstrate the ability of the device to record and replay the pelvic motions that occur during normal walking.

引用

页码：1690 / 1693

页数：4

共 9 条

[1] Modeling, identification, and control of a pneumatically actuated, force controllable robot [J].

Bobrow, JE ;

McDonell, BW .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (05) :732-742

[2]

Colombo G, 2000, J REHABIL RES DEV, V37, P693

[3] Retraining the injured spinal cord [J].

Edgerton, VR ;

de Leon, RD ;

Harkema, SJ ;

Hodgson, JA ;

London, N ;

Reinkensmeyer, DJ ;

Roy, RN ;

Talmadge, RJ ;

Tillakaratne, NJ ;

Timoszyk, W ;

Tobin, A .

JOURNAL OF PHYSIOLOGY-LONDON, 2001, 533 (01) :15-22

[4]

Hesse S, 2000, J REHABIL RES DEV, V37, P701

[5]

Inman V. T., 1981, HUMAN WALKING, P41

[6]

Krebs HI, 2000, J REHABIL RES DEV, V37, P639

[7] A robotic tool for studying locomotor adaptation and rehabilitation [J].

Reinkensmeyer, DJ ;

Wynne, JH ;

Harkema, SJ .

SECOND JOINT EMBS-BMES CONFERENCE 2002, VOLS 1-3, CONFERENCE PROCEEDINGS: BIOENGINEERING - INTEGRATIVE METHODOLOGIES, NEW TECHNOLOGIES, 2002, :2353-2354

[8] Teleoperator slave - WAM design methodology [J].

Townsend, WT ;

Guertin, JA .

INDUSTRIAL ROBOT, 1999, 26 (03) :167-177

[9]

Wang CYE, 2001, IEEE INT CONF ROBOT, P1433, DOI 10.1109/ROBOT.2001.932811

← 1 →