An assistive robotic device that can synchronize to the pelvic motion during human gait training

We are developing a robotic device, PAM (pelvic assist manipulator), that assists the pelvic motion during human gait training on a treadmill. PAM allows naturalistic motion of pelvis actuated by six pneumatic cylinders, which, combined with a nonlinear force-tracking controller, provide backdrivabi...

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Veröffentlicht in:9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005 S. 565 - 568
Hauptverfasser: Aoyagi, D., Ichinose, W.E., Harkema, S.J., Reinkensmeyer, D.J., Bobrow, J.E.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 2005
Schlagworte:
Change detection algorithms
Costs
Force control
Humans
Manipulators
Motion control
PD control
Pelvis
Robots
Timing
ISBN:9780780390034, 0780390032
ISSN:1945-7898
Online-Zugang:Volltext
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Abstract We are developing a robotic device, PAM (pelvic assist manipulator), that assists the pelvic motion during human gait training on a treadmill. PAM allows naturalistic motion of pelvis actuated by six pneumatic cylinders, which, combined with a nonlinear force-tracking controller, provide backdrivability and large force output at a relatively low cost. PAM can act as a teach-and-replay device with a PD position controller driving the pelvis onto the reference trajectory specified with or without the help of therapists. During initial experiments with unimpaired subjects, we encountered a problem in which the subjects had difficulty synchronizing their movements with the gait pattern reproduced by PAM, even though that gait pattern had been sampled from the subjects themselves. We introduced footswitches to detect the gait timing and developed a feedback control algorithm that adjusts the play-back speed of the gait pattern in real-time. The feedback algorithm is presented, along with data that shows the effectiveness of the algorithm in synchronizing the robotic assistance during stepping by unimpaired subjects, even when the subjects change their step size and period.
AbstractList We are developing a robotic device, PAM (pelvic assist manipulator), that assists the pelvic motion during human gait training on a treadmill. PAM allows naturalistic motion of pelvis actuated by six pneumatic cylinders, which, combined with a nonlinear force-tracking controller, provide backdrivability and large force output at a relatively low cost. PAM can act as a teach-and-replay device with a PD position controller driving the pelvis onto the reference trajectory specified with or without the help of therapists. During initial experiments with unimpaired subjects, we encountered a problem in which the subjects had difficulty synchronizing their movements with the gait pattern reproduced by PAM, even though that gait pattern had been sampled from the subjects themselves. We introduced footswitches to detect the gait timing and developed a feedback control algorithm that adjusts the play-back speed of the gait pattern in real-time. The feedback algorithm is presented, along with data that shows the effectiveness of the algorithm in synchronizing the robotic assistance during stepping by unimpaired subjects, even when the subjects change their step size and period.
Author Ichinose, W.E.
Bobrow, J.E.
Reinkensmeyer, D.J.
Harkema, S.J.
Aoyagi, D.
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  surname: Aoyagi
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  surname: Ichinose
  fullname: Ichinose, W.E.
  organization: Dept. of Mechanical & Aerosp. Eng., California Univ., Irvine, CA, USA
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  surname: Reinkensmeyer
  fullname: Reinkensmeyer, D.J.
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  givenname: J.E.
  surname: Bobrow
  fullname: Bobrow, J.E.
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Snippet We are developing a robotic device, PAM (pelvic assist manipulator), that assists the pelvic motion during human gait training on a treadmill. PAM allows...
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StartPage 565
SubjectTerms Change detection algorithms
Costs
Force control
Humans
Manipulators
Motion control
PD control
Pelvis
Robots
Timing
Title An assistive robotic device that can synchronize to the pelvic motion during human gait training
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