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Patient adaptive control of end-effector based gait rehabilitation devices using a haptic control framework

: Hussein, S.; Krüger, J.


Institute of Electrical and Electronics Engineers -IEEE-:
2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 : Zurich, Switzerland, 29 June - 1 July 2011. Part of Rehab Week Zurich 2011, June 27 to July 1, 2011
Piscataway, NJ: IEEE, 2011
ISBN: 978-1-424-49863-5
ISBN: 978-1-4244-9862-8
6 pp.
International Conference on Rehabilitation Robotics (ICORR) <2011, Zurich>
Rehab Week Zurich <2011, Zurich>
Conference Paper
Fraunhofer IPK ()

Robot assisted training has proven beneficial as an extension of conventional therapy to improve rehabilitation outcome. Further facilitation of this positive impact is expected from the application of cooperative control algorithms to increase the patient's contribution to the training effort according to his level of ability. This paper presents an approach for cooperative training for end-effector based gait rehabilitation devices. Thereby it provides the basis to firstly establish sophisticated cooperative control methods in this class of devices. It uses a haptic control framework to synthesize and render complex, task specific training environments, which are composed of polygonal primitives. Training assistance is integrated as part of the environment into the haptic control framework. A compliant window is moved along a nominal training trajectory compliantly guiding and supporting the foot motion. The level of assistance is adjusted via the stiffness of the moving window. Further an iterative learning algorithm is used to automatically adjust this assistance level. Stable haptic rendering of the dynamic training environments and adaptive movement assistance have been evaluated in two example training scenarios: treadmill walking and stair climbing. Data from preliminary trials with one healthy subject is provided in this paper.