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To active rehabilitation training, Newton-Euler method is applied to build dynamic models for the powered exoskeleton and the subject. A method to extract the subject's active force is proposed combined with the models. A mechanism for measuring the human-robot coupling force is designed on that basis. Two prototype experiments are proposed, one is an on-line experiment via different mass loadings,...
Body weight supported treadmill training (BWSTT) has been confirmed to be an effective gait rehabilitation therapy for patients with locomotor dysfunction of the lower limbs. Powered Gait Orthosis (PGO) is a pair of powered mechanical legs in exoskeleton structure, which can guide the patient's legs to move in a preprogrammed physiological gait pattern during BWSTT. A prototype of single-leg PGO has...
This paper presents a method for walking planning of rehabilitation robot. Firstly, the simple model of four-links robot walking on the treadmill is introduced. Then, the constraints of swing limb tip and hip motion are formulated in terms of coherent physical characteristics of gait and the compatible hip and swing limb tip trajectories are generated by cubic polynomial interpolation. By varying...
Body weight supported treadmill training (BWST) has been confirmed that it can improve walking capabilities in spinal cord-injured and stroke patients. During treadmill training, the leg movements of the patients have to be manually assisted by physiotherapists. The physical capabilities and the individual experience of the therapists usually limit this training. A powered gait orthosis (PGO) is being...
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