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
收藏
页码：5221 / 5226
页数：6
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