HapticV1, Main, Merge, bibRecord, 007953

Design of a robotic walking simulator for neurological rehabilitation

Identifieur interne : 007953 ( Main/Merge ); précédent : 007952; suivant : 007954

Design of a robotic walking simulator for neurological rehabilitation

Auteurs : H. Schmidt [Allemagne] ; D. Sorowka [Allemagne] ; S. Hesse [Allemagne] ; R. Bernhardt [Allemagne]

Source :

RBID : Pascal:04-0196205

Descripteurs français

Pascal (Inist)
- Robotique, Simulateur, Trajectoire, Capteur mesure, Adaptation, Conception système, Système dynamique, Préparation gamme fabrication, Théorie type, Locomotion avec jambes, Marche à pied, Réadaptation physique, Réhabilitation, Cerveau, Encéphale, Homme, Système nerveux central, Pied, Surface rugueuse.
Wicri :
- topic : Robotique, Homme.

English descriptors

KwdEn :
- Adaptation, Brain, Central nervous system, Dynamical system, Encephalon, Foot, Human, Legged locomotion, Measurement sensor, Physical rehabilitation, Process planning, Rehabilitation, Robotics, Rough surface, Simulator, System design, Trajectory, Type theory, Walking.

Abstract

The restoration of walking capability is a key goal after stroke, traumatic brain injury and spinal cord injury. Conventional training methods, e.g. treadmill training, require great physical effort from the therapists to assist the patient. A robotic device which enables the therapist to let the machine move the patients feet on programmable foot trajectories (e.g. walking on the ground, stepping stairs up and down, walking on rough surfaces, disturbances during walking) would be of great help. On this device the patients feet are permanently fixed on two footplates. Force sensors are mounted on the footplates in order to enable the incorporation of compliance control algorithms for online adaptation of the foot trajectories to the patients walking capabilities. Furthermore the kinematic and kinetic design parameters of the robotic system will enable the machine to be used as a universal walking simulator, not only for rehabilitation purposes. In 'haptic mode', i.e. maximum compliance during foot swing phase, the machine behaves as a haptic foot device for a variety of virtual ground conditions. Due to the high dynamic range, needed to guide real walking trajectories, conventional industrial robots are not suitable for this task. Hence the authors have developed a special robot system with high dynamics. This paper describes development aspects of the design process of the new walking simulator. A proto-type of the developed system is currently under construction.

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Pascal:04-0196205

Le document en format XML

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<author><name sortKey="Sorowka, D" sort="Sorowka, D" uniqKey="Sorowka D" first="D." last="Sorowka">D. Sorowka</name>
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<term>Foot</term>
<term>Human</term>
<term>Legged locomotion</term>
<term>Measurement sensor</term>
<term>Physical rehabilitation</term>
<term>Process planning</term>
<term>Rehabilitation</term>
<term>Robotics</term>
<term>Rough surface</term>
<term>Simulator</term>
<term>System design</term>
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<front><div type="abstract" xml:lang="en">The restoration of walking capability is a key goal after stroke, traumatic brain injury and spinal cord injury. Conventional training methods, e.g. treadmill training, require great physical effort from the therapists to assist the patient. A robotic device which enables the therapist to let the machine move the patients feet on programmable foot trajectories (e.g. walking on the ground, stepping stairs up and down, walking on rough surfaces, disturbances during walking) would be of great help. On this device the patients feet are permanently fixed on two footplates. Force sensors are mounted on the footplates in order to enable the incorporation of compliance control algorithms for online adaptation of the foot trajectories to the patients walking capabilities. Furthermore the kinematic and kinetic design parameters of the robotic system will enable the machine to be used as a universal walking simulator, not only for rehabilitation purposes. In 'haptic mode', i.e. maximum compliance during foot swing phase, the machine behaves as a haptic foot device for a variety of virtual ground conditions. Due to the high dynamic range, needed to guide real walking trajectories, conventional industrial robots are not suitable for this task. Hence the authors have developed a special robot system with high dynamics. This paper describes development aspects of the design process of the new walking simulator. A proto-type of the developed system is currently under construction.</div>
</front>
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<affiliations><list><country><li>Allemagne</li>
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<name sortKey="Bernhardt, R" sort="Bernhardt, R" uniqKey="Bernhardt R" first="R." last="Bernhardt">R. Bernhardt</name>
<name sortKey="Hesse, S" sort="Hesse, S" uniqKey="Hesse S" first="S." last="Hesse">S. Hesse</name>
<name sortKey="Schmidt, H" sort="Schmidt, H" uniqKey="Schmidt H" first="H." last="Schmidt">H. Schmidt</name>
<name sortKey="Sorowka, D" sort="Sorowka, D" uniqKey="Sorowka D" first="D." last="Sorowka">D. Sorowka</name>
<name sortKey="Sorowka, D" sort="Sorowka, D" uniqKey="Sorowka D" first="D." last="Sorowka">D. Sorowka</name>
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Design of a robotic walking simulator for neurological rehabilitation

Design of a robotic walking simulator for neurological rehabilitation

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri