Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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Muscle activation patterns of healthy subjects during floor walking and stair climbing on an end-effector based gait rehabilitation robot

2007 , Hussein, H. , Schmidt, H. , Volkmar, M. , Werner, C. , Helmich, I. , Piorko, F. , Krüger, J. , Hesse, S.

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Motion and perturbation generation algorithm for gait rehabilitation robots

2006 , Krüger, J. , Schmidt, H. , Hesse, S.

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. Entnommen aus TEMA

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Roboterunterstütztes Treppensteigen in der neurologischen Gangrehabilitation

2007 , Hussein, S. , Radmer, J. , Volkmar, M. , Werner, C. , Schmidt, H. , Krüger, J. , Hesse, S.

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Improving the data quality of PMD-based 3D cameras

2007 , Sabov, A. , Krüger, J.

Reproducing the environment as a virtual model in a computer is a requirement of many vision, modeling and vizualisation applications. 3D video range cameras are a promising approach since they provide direct 3D information of a recorded scene. This paper focuses on improving the data quality of such cameras by analysing and processing the raw values. The first algorithm focuses on the quality of the distance values. The optimal exposure times for the camera are predicted and the resulting distance values are combined to create an improved depth image. The second algorithm focuses on the quality of grayscale values. An illumination model is presented which is used to eliminate spotlight effects in the picture. An evaluation on test scenes demonstrates the effectiveness of the algorithms. Entnommen aus TEMA

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