HapticV1, PascalFrancis, Corpus, bibRecord, 001057

Design of a robotic walking simulator for neurological rehabilitation

Identifieur interne : 001057 ( PascalFrancis/Corpus ); précédent : 001056; suivant : 001058

Design of a robotic walking simulator for neurological rehabilitation

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

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.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Design of a robotic walking simulator for neurological rehabilitation`
A09	`01`	`1`	`ENG`	`@1 2002 IEEE/RSJ international conference on intelligent robots and systems : Lausanne, 30 September - 4 October 2002`
A11	`01`	`1`		`@1 SCHMIDT (H.)`
A11	`02`	`1`		`@1 SOROWKA (D.)`
A11	`03`	`1`		`@1 HESSE (S.)`
A11	`04`	`1`		`@1 BERNHARDT (R.)`
A14	`01`			`@1 Free University of Berlin, Dept. of Neurological Rehabilitation @2 Berlin @3 DEU @Z 1 aut. @Z 2 aut. @Z 3 aut.`
A14	`02`			`@1 Fraunhofer Institute IPK, Dept. of Automation and Robotics @2 Berlin @3 DEU @Z 1 aut. @Z 2 aut. @Z 4 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 patr.`
A18	`02`	`1`		`@1 IEEE Industrial Elelctronics Society @3 USA @9 patr.`
A18	`03`	`1`		`@1 Robotics Society of Japan @3 JPN @9 patr.`
A18	`04`	`1`		`@1 Society of Instruments and Control Engineers @3 INC @9 patr.`
A18	`05`	`1`		`@1 INRIA Rhône-Alpes @2 Grenoble @3 FRA @9 patr.`
A18	`06`	`1`		`@1 EPFL @2 Lausanne @3 CHE @9 patr.`
A20				`@1 1487-1492`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-7398-7`
A30	`01`	`1`	`ENG`	`@1 IROS 2002 : international conference on intelligent robots and systems @3 Lausanne CHE @4 2002-09-30`
A43	`01`			`@1 INIST @2 Y 37951 @5 354000117764172420`
A44				`@0 0000 @1 © 2004 INIST-CNRS. All rights reserved.`
A45				`@0 14 ref.`
A47	`01`	`1`		`@0 04-0196205`
A60				`@1 C`
A61				`@0 A`
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C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02C03`
C02	`02`	`X`		`@0 001D02D11`
C03	`01`	`X`	`FRE`	`@0 Robotique @5 02`
C03	`01`	`X`	`ENG`	`@0 Robotics @5 02`
C03	`01`	`X`	`SPA`	`@0 Robótica @5 02`
C03	`02`	`X`	`FRE`	`@0 Simulateur @5 03`
C03	`02`	`X`	`ENG`	`@0 Simulator @5 03`
C03	`02`	`X`	`SPA`	`@0 Simulador @5 03`
C03	`03`	`X`	`FRE`	`@0 Trajectoire @5 04`
C03	`03`	`X`	`ENG`	`@0 Trajectory @5 04`
C03	`03`	`X`	`SPA`	`@0 Trayectoria @5 04`
C03	`04`	`X`	`FRE`	`@0 Capteur mesure @5 05`
C03	`04`	`X`	`ENG`	`@0 Measurement sensor @5 05`
C03	`04`	`X`	`SPA`	`@0 Captador medida @5 05`
C03	`05`	`X`	`FRE`	`@0 Adaptation @5 06`
C03	`05`	`X`	`ENG`	`@0 Adaptation @5 06`
C03	`05`	`X`	`SPA`	`@0 Adaptación @5 06`
C03	`06`	`X`	`FRE`	`@0 Conception système @5 07`
C03	`06`	`X`	`ENG`	`@0 System design @5 07`
C03	`06`	`X`	`SPA`	`@0 Concepción sistema @5 07`
C03	`07`	`X`	`FRE`	`@0 Système dynamique @5 08`
C03	`07`	`X`	`ENG`	`@0 Dynamical system @5 08`
C03	`07`	`X`	`SPA`	`@0 Sistema dinámico @5 08`
C03	`08`	`X`	`FRE`	`@0 Préparation gamme fabrication @5 09`
C03	`08`	`X`	`ENG`	`@0 Process planning @5 09`
C03	`08`	`X`	`SPA`	`@0 Preparación serie fabricación @5 09`
C03	`09`	`3`	`FRE`	`@0 Théorie type @5 10`
C03	`09`	`3`	`ENG`	`@0 Type theory @5 10`
C03	`10`	`3`	`FRE`	`@0 Locomotion avec jambes @5 11`
C03	`10`	`3`	`ENG`	`@0 Legged locomotion @5 11`
C03	`11`	`X`	`FRE`	`@0 Marche à pied @5 12`
C03	`11`	`X`	`ENG`	`@0 Walking @5 12`
C03	`11`	`X`	`SPA`	`@0 Caminata @5 12`
C03	`12`	`X`	`FRE`	`@0 Réadaptation physique @5 13`
C03	`12`	`X`	`ENG`	`@0 Physical rehabilitation @5 13`
C03	`12`	`X`	`SPA`	`@0 Readaptación física @5 13`
C03	`13`	`X`	`FRE`	`@0 Réhabilitation @5 14`
C03	`13`	`X`	`ENG`	`@0 Rehabilitation @5 14`
C03	`13`	`X`	`SPA`	`@0 Rehabilitación @5 14`
C03	`14`	`X`	`FRE`	`@0 Cerveau @5 15`
C03	`14`	`X`	`ENG`	`@0 Brain @5 15`
C03	`14`	`X`	`SPA`	`@0 Cerebro @5 15`
C03	`15`	`X`	`FRE`	`@0 Encéphale @5 16`
C03	`15`	`X`	`ENG`	`@0 Encephalon @5 16`
C03	`15`	`X`	`SPA`	`@0 Encéfalo @5 16`
C03	`16`	`X`	`FRE`	`@0 Homme @5 17`
C03	`16`	`X`	`ENG`	`@0 Human @5 17`
C03	`16`	`X`	`SPA`	`@0 Hombre @5 17`
C03	`17`	`X`	`FRE`	`@0 Système nerveux central @5 18`
C03	`17`	`X`	`ENG`	`@0 Central nervous system @5 18`
C03	`17`	`X`	`SPA`	`@0 Sistema nervioso central @5 18`
C03	`18`	`X`	`FRE`	`@0 Pied @5 19`
C03	`18`	`X`	`ENG`	`@0 Foot @5 19`
C03	`18`	`X`	`SPA`	`@0 Pie @5 19`
C03	`19`	`X`	`FRE`	`@0 Surface rugueuse @5 20`
C03	`19`	`X`	`ENG`	`@0 Rough surface @5 20`
C03	`19`	`X`	`SPA`	`@0 Superficie rugosa @5 20`
N21				`@1 131`
N82				`@1 PSI`

Format Inist (serveur)

NO :	PASCAL 04-0196205 INIST
ET :	Design of a robotic walking simulator for neurological rehabilitation
AU :	SCHMIDT (H.); SOROWKA (D.); HESSE (S.); BERNHARDT (R.)
AF :	Free University of Berlin, Dept. of Neurological Rehabilitation/Berlin/Allemagne (1 aut., 2 aut., 3 aut.); Fraunhofer Institute IPK, Dept. of Automation and Robotics/Berlin/Allemagne (1 aut., 2 aut., 4 aut.)
DT :	Congrès; Niveau analytique
SO :	IROS 2002 : international conference on intelligent robots and systems/2002-09-30/Lausanne CHE; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 1487-1492; ISBN 0-7803-7398-7
LA :	Anglais
EA :	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.
CC :	001D02C03; 001D02D11
FD :	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
ED :	Robotics; Simulator; Trajectory; Measurement sensor; Adaptation; System design; Dynamical system; Process planning; Type theory; Legged locomotion; Walking; Physical rehabilitation; Rehabilitation; Brain; Encephalon; Human; Central nervous system; Foot; Rough surface
SD :	Robótica; Simulador; Trayectoria; Captador medida; Adaptación; Concepción sistema; Sistema dinámico; Preparación serie fabricación; Caminata; Readaptación física; Rehabilitación; Cerebro; Encéfalo; Hombre; Sistema nervioso central; Pie; Superficie rugosa
LO :	INIST-Y 37951.354000117764172420
ID :	04-0196205

Links to Exploration step

Pascal:04-0196205

Le document en format XML

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<author><name sortKey="Hesse, S" sort="Hesse, S" uniqKey="Hesse S" first="S." last="Hesse">S. Hesse</name>
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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>
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<server><NO>PASCAL 04-0196205 INIST</NO>
<ET>Design of a robotic walking simulator for neurological rehabilitation</ET>
<AU>SCHMIDT (H.); SOROWKA (D.); HESSE (S.); BERNHARDT (R.)</AU>
<AF>Free University of Berlin, Dept. of Neurological Rehabilitation/Berlin/Allemagne (1 aut., 2 aut., 3 aut.); Fraunhofer Institute IPK, Dept. of Automation and Robotics/Berlin/Allemagne (1 aut., 2 aut., 4 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IROS 2002 : international conference on intelligent robots and systems/2002-09-30/Lausanne CHE; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 1487-1492; ISBN 0-7803-7398-7</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02C03; 001D02D11</CC>
<FD>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</FD>
<ED>Robotics; Simulator; Trajectory; Measurement sensor; Adaptation; System design; Dynamical system; Process planning; Type theory; Legged locomotion; Walking; Physical rehabilitation; Rehabilitation; Brain; Encephalon; Human; Central nervous system; Foot; Rough surface</ED>
<SD>Robótica; Simulador; Trayectoria; Captador medida; Adaptación; Concepción sistema; Sistema dinámico; Preparación serie fabricación; Caminata; Readaptación física; Rehabilitación; Cerebro; Encéfalo; Hombre; Sistema nervioso central; Pie; Superficie rugosa</SD>
<LO>INIST-Y 37951.354000117764172420</LO>
<ID>04-0196205</ID>
</server>
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Design of a robotic walking simulator for neurological rehabilitation

Design of a robotic walking simulator for neurological rehabilitation

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