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A haptic control framework for end-effector based gait simulation interfaces and its application in patient-adaptive rehabilitation training

: Hussein, Sami
: Krüger, Jörg

Fulltext urn:nbn:de:0011-n-2251108 (11 MByte PDF)
MD5 Fingerprint: e68d67291cdb3cd9a0b9556fccdb60d6
Created on: 22.1.2013


Stuttgart: Fraunhofer Verlag, 2012, XVII, 125 pp.
Zugl.: Berlin, TU, Diss., 2012
Berichte aus dem Produktionstechnischen Zentrum Berlin
ISBN: 3-8396-0464-8
ISBN: 978-3-8396-0464-9
Dissertation, Electronic Publication
Fraunhofer IPK ()
Angewandte Forschung; applied research

The use of robots to assist therapy of neurological motor disfunctions, such as limited mobility, is an emerging research field.
This book provides the first systematic application of a haptic control framework and assist as needed training paradigms to so called end-effector based gait simulation interfaces with a natural walking workspace, which fully carry the operator's bodyweight.
The developed haptic control framework provides a unified controller architecture and a design method based on robust adaptive control. Thus it allows for the stable interaction with virtual training environments. The modular virtual environments combine a walking scenario with an adjustable assistance along the desired training motion.
The framework is the basis to develop and implement compliant and patient-adaptive training strategies and, more generally speaking, haptic interaction on end-effector based gait interfaces.
The prototype was successfully implemented and tested on the walking simulator HapticWalker.