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Safety concept for robotic gait trainers

 
: Schmidt, H.; Hesse, S.; Bernhardt, R.

:

Hudson, D. ; IEEE Engineering in Medicine and Biology Society -EMBS-:
Linkages for innovation in biomedicine. 26th annual international conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2004. Vol.4 : 1 - 5 September 2004, San Francisco, California; conference proceedings
Piscataway, NJ: IEEE Service Center, 2004
ISBN: 0-7803-8439-3
pp.2703-2706
Engineering in Medicine and Biology Society (EMBS International Conference) <26, 2004, San Francisco/Calif.>
English
Conference Paper
Fraunhofer IPK ()

Abstract
The paper presents a newly developed safety concept for application of robotic walking simulators based on the principle of programmable footplates in gait rehabilitation. Unlike robotic hand devices or exoskeleton robots for gait training on treadmills, which can be built relatively lightweight and require only small drives which can hardly do harm to the patient, a programmable footplate walking simulator with permanent foot fixture essentially needs to have powerful drives in order to carry and move the full body weight of the patient. The developed safety concept comprises several redundant algorithms and devices in the real-time robot control software, electrical emergency stop circuitry and machine mechanics. The mechanical core is a machine design offering maximum passive security by covering all moving parts (i.e. robot drives and linkages) and a newly developed foot safety release binding, which is mounted on each footplate. The release binding allows a safe re lease from the footplate in all directions in any degree of freedom in the sagittal plane. It is combined with an ankle goniometer which is equipped with adjustable emergency stop limit switches, thus ensuring that the allowed ankle range-of-motion is not exceeded.

: http://publica.fraunhofer.de/documents/N-171604.html