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This paper deals with the evaluation of an exoskeleton designed for assisting individuals to rehabilitate compromised lower limb movements resulting from stroke or incomplete spinal cord injury. The exoskeleton is composed of lightweight tubular structures and six free joints that provide a modular feature to the system. This feature allows the exoskeleton to be adapted to assist the movement of one...
Active orthosis is one of the main research topics in the field of motor recovery. This paper deals with the design and control of an active knee orthosis driven by a customized rotary Series Elastic Actuator (SEA). The proposed actuator includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in SEA design, a finite element analysis...
This paper deals with optimal impedance control of robotic devices designed for rehabilitation of walking after stroke. The proposed optimal solution is based on the estimation of torque and impedance parameters of the patient during the gait. The patient's torque is estimated using the generalized momenta-based disturbance observer associated with the Kalman filter algorithm. The stiffness and damping...
This paper summarizes our on-going efforts to design adaptive assist-as-needed impedance controllers for ankle rehabilitation. Two robot assistance control strategies were evaluated: the first one attempted to normalize the combined robot and patient impedance via a complementary robot stiffness based on the estimate of the patient's stiffness and the second one searched for an optimal solution that...
The authors present in this paper a robust torque control of an active orthosis designed to assist the knee joint flexion/extension during physical therapy. The orthosis is driven by a rotary Series Elastic Actuator presented in authors' previous paper. The adopted control strategy is based on H∞ criterion in order to ensure good system performance even when it is subjected to parametric uncertainties...
This paper presents a set of serious games for assessment and rehabilitation of pos-stroke patients. The proposed games are connected to a robotic platform for ankle rehabilitation, which allows the patients to perform tasks regarding dorsiflexion movements and muscle strength. An usability study fo the robotic platform was conducted in 19 hemiparetic and 19 healthy subjects, with the aim of evaluating...
This paper presents the evaluation of a rotary Series Elastic Actuator (SEA) designed to assist in flexion/extension of the knee joint during physical therapy. The proposed device includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in the SEA design, an analysis procedure based on Finite Element Method (FEM) is used in order to...
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