Walking-support robot system for walking rehabilitation: design and control

An intelligent walking-assistance robot system has been developed to help the elderly or the disabled in rehabilitation programs. From the design viewpoint, several different mechanisms to satisfy the strict requirements for use in a rehabilitation program were considered and studied. A two-wheel mobile mechanism was developed to provide motions to follow the patients walking trajectory, and also to make the patient follow a specified trajectory. Equations of motion were derived for the unloading control, and a force control algorithm was developed. For motion control of the mobile base, virtual trajectory planning by the B-spline method and PID control were used. Sensing the motion of the patient is performed by a linear potentiometer and a rotating encoder attached to the robot manipulator. The system was tested on patients in hospital and the experimental results are reported.
Publisher
Springer Verlag
Issue Date
2001-04
Language
ENG
Citation

ARTIFICIAL LIFE AND ROBOTICS

ISSN
1433-5298
URI
http://hdl.handle.net/10203/8202
Appears in Collection
EE-Journal Papers(저널논문)
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