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http://dx.doi.org/10.5302/J.ICROS.2008.14.7.672

Design of a Novel Gait Rehabilitation Robot with Upper and Lower Limbs Connections  

Yoon, Jung-Won (경상대학교 기계항공공학부 항공기부품기술연구센터)
Novandy, Bondhan (경상대학교 기계항공공학부)
Christi, Christi (경상대학교 기계항공공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.7, 2008 , pp. 672-678 More about this Journal
Abstract
This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.
Keywords
rehabilitation robot; normal gait; haptic; lower and upper limbs;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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