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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Bibliographic Details

Published in:	9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005 pp. 565 - 568
Main Authors:	Aoyagi, D., Ichinose, W.E., Harkema, S.J., Reinkensmeyer, D.J., Bobrow, J.E.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 2005
Subjects:	Change detection algorithms Costs Force control Humans Manipulators Motion control PD control Pelvis Robots Timing
ISBN:	9780780390034, 0780390032
ISSN:	1945-7898
Online Access:	Get full text
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