Synthesis of perturbations for gait rehabilitation robots

H. Schmidt, F. Piorko, R. Bernhardt, J. Krüger, S. Hesse
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引用次数: 22

Abstract

Perturbations are an important measure to improve gait training and to investigate the learning success of stroke patients during rehabilitation. This paper describes the development and implementation of algorithms for the synthesis of perturbations during gait training on a robotic walking simulator. The perturbation algorithm performs an automatic on-line adaptation of the robot motion override. Hence, it is independent from the type of motion interpolation which the robot motion is based on. Perturbations we have implemented so far include stumbling, i.e. hitting an obstacle during swing phase, and slipping, i.e. sliding on an obstacle during stance phase. An additional catch-up control algorithm ensures that both feet will regain synchronous motion again after the event The algorithms have been implemented in the control software of the HapticWalker, a programmable footplate based human walking simulator for gait rehabilitation, which we have developed. So far a number of healthy subjects have successfully tested the algorithms on the simulator. Clinical trials will follow.
步态康复机器人摄动综合
摄动是改善卒中患者康复过程中步态训练和研究卒中患者学习成功率的重要手段。本文描述了机器人步行模拟器步态训练过程中摄动综合算法的开发和实现。该摄动算法实现了机器人运动覆盖的自动在线自适应。因此,它与机器人运动所基于的运动插值类型无关。到目前为止,我们已经实现的扰动包括绊倒,即在摇摆阶段撞上障碍物,以及滑动,即在站立阶段在障碍物上滑动。一种额外的追赶控制算法确保双脚在事件发生后再次恢复同步运动。算法已在HapticWalker的控制软件中实现,HapticWalker是我们开发的一种基于可编程踏板的步态康复人体行走模拟器。到目前为止,许多健康的受试者已经成功地在模拟器上测试了算法。随后将进行临床试验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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