IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynam...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
Kinematic compatibility is of paramount importance in wearable robotic and exoskeleton design. Misalignments between exoskeletons and anatomical joints of the human body result in interaction forces which make wearing the exoskeleton uncomfortable an...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
The most important step for lower extremity exoskeleton is to infer human motion intent (HMI), which contributes to achieve human exoskeleton collaboration. Since the user is in the control loop, the relationship between human robot interaction (HRI)...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
Robotics is increasing in popularity as a method of providing rich, personalized and cost-effective physiotherapy to individuals with some degree of upper limb paralysis, such as those who have suffered a stroke. These robotic rehabilitation systems ...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
Robotic systems are being used for gait rehabilitation of patients with neurological disorder. These devices are externally powered to apply external forces on human limbs to assist the leg motion. Patients while walking with these devices adapt thei...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
The capabilities of robotic gait assistive devices are ever increasing; however, their adoption outside of the lab is still limited. A critical barrier for the functionality of these devices are the still unknown mechanical properties of the human le...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
This paper describes the design, implementation, and preliminary validation of a controller for a powered lower-limb exoskeleton that reshapes a user's leg movement during over-ground walking. The intended application of the controller is to facilita...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
This paper proposes a method of detecting the postural stability of a person wearing the lower limb exoskeletal robot with the HAT(Head-Arm-Trunk) model. Previous studies have shown that the human posture is stable when the CoM(Center of Mass) of the...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jul 1, 2017
Since manual rehabilitation therapy can be taxing for both the patient and the physiotherapist, a gait rehabilitation robot has been built to reduce the physical strain and increase the efficacy of the rehabilitation therapy. The prototype of the gai...
INTRODUCTION: The evidence underlying robotic body weight supported treadmill training in patients with spinal cord injury remains poorly characterized.