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Motion and perturbation generation algorithm for gait rehabilitation robots

Bewegungsplanung für einen Gangrehabilitationsroboter
: Krüger, J.; Schmidt, H.; Hesse, S.

VDI-Wissensforum GmbH; Deutsche Gesellschaft für Robotik:
Proceedings of the Joint Conference on Robotics. ISR 2006, 37th International Symposium on Robotics, and ROBOTIK 2006, 4th German Conference on Robotics : May 15-17, 2006, München: Visions are Reality
Düsseldorf: VDI-Verlag, 2006 (VDI-Berichte 1956)
ISBN: 3-18-091956-6
International Symposium on Robotics (ISR) <37, 2006, München>
German Conference on Robotics (ROBOTIK) <4, 2006, München>
Fraunhofer IPK ()
Bahnplanung; Bewegungsbahn; Schreiten; Rehabilitationshilfe; Roboter; Störungsbeseitigung; Automatisierungstechnik

Efficient gait rehabilitation requires the patient to practice the whole variety of daily life walking trajectories as early and intensive as possible, because transfer of learning from one gait motion (e.g. walking on even ground) to another (e.g. stepping staircases up/down) proved to be very limited. Therefore gait rehabilitations robots for training of arbitrary walking trajectories need to provide appropriate algorithms for programming and execution of natural walking motions in order to enable proper afferent stimulation of the patients central nervous system. The HapticWalker, a programmable footplate robotic device for gait rehabilitation, is the first device to allow arbitrary foot movements during gait training (e.g. walking on plane floor, upstairs, downstairs, stumbling, sliding). Among the key elements of the HapticWalker robot control software are the motion generation module, which comprises an extended set of motion commands for the simulation of arbitrary natural walking trajectories based on a Cartesian Fourier series interpolation, and the graphical gait motion programming interface, which was specifically designed for operation by non-technical personnel like, for instance, physiotherapists and allows intuitive machine programming based on a minimum set of gait parameters. All motion generation algorithms can be applied for fully guided foot motions, needed in early rehabilitation phases, or in combination with compliance control algorithms, in order to allow haptic patient machine interaction. Automatic motion override adaptation algorithms based on switched low pass filters with a critical damping characteristic were developed for the on-line modulation of the motion override to enable acceleration and deceleration on arbitrary foot trajectories as well as the natural simulation of asynchronous events, i.e. perturbations like for instance stumbling or sliding. The presented algorithms were tested by several healthy subjects and ten stroke and SCI patients in a pilot study, all confirming the natural feeling of walking on the HapticWalker.
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