Gait Training using Pneumatically Actuated Robot System

Koceska, Natasa and Koceski, Saso and Beomonte, Pierluigi and Durante, Francesco (2011) Gait Training using Pneumatically Actuated Robot System. In: Advances in Robot Navigation. Advances in Robot Navigation . InTech, pp. 224-238. ISBN 978-953-307-346-0

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Official URL: http://dx.doi.org/10.5772/17467

Abstract

Powered exoskeleton device for gait rehabilitation has been designed and realized, together with proper control architecture. Its DOFs allow free leg motion, while the patient walks on a treadmill with its weight, completely or partially supported by the suspension system. The use of pneumatic actuators for actuation of this rehabilitation system is reasonable, because they offer high force output, good backdrivability, and good position and force control, at a relatively low cost. The effectiveness of the developed rehabilitation system and proposed control architecture was experimentally tested. During the experiments, the movement was natural and smooth while the limb moves along the target trajectory.

Item Type: Book Section
Subjects: Natural sciences > Computer and information sciences
Engineering and Technology > Electrical engineering, electronic engineering, information engineering
Engineering and Technology > Mechanical engineering
Engineering and Technology > Medical engineering
Divisions: Faculty of Computer Science
Depositing User: Saso Koceski
Date Deposited: 27 Dec 2012 12:40
Last Modified: 27 Dec 2012 12:40
URI: http://eprints.ugd.edu.mk/id/eprint/3444

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