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Disability of lower limb affects voluntary movements and results in a low quality of life. Although people with disabled lower limb can restore their movements through assistive devices like wheelchair, such manner is not as natural as that healthy people perform locomotion. It would be better to regain movements by restoring the function of lower limb itself. Hence, an orthosis that can be worn on...
In the field of gait training with rehabilitation robots, reference robot trajectories that are synchronous to human gait is inevitable. In this paper, a novel adaptive oscillator-based synchronization algorithm using gait events during overground walking is proposed. The gait events are detected with hidden Markov model (HMM), the feature vector of which is measured with wearable inertia measurement...
This paper presents a novel control strategy of a portable knee-ankle-foot robot for overground gait training based on seven gait phases. Following assisted-as-needed (AAN) control strategies, the robot is able to provide assistance to the lower limbs in any gait phases, which deliver intensive training to certain lower-limb impairments. The gait phases can be detected in real time via inertia measurement...
We are developing an intelligent compact and modular knee-ankle-foot robot gait rehabilitation at outpatient and home settings. The robot is designed with a novel compact compliant force controllable actuator. We adopt a modular design for the knee and ankle joint so that the robot can assist patients with different conditions of gait impairments. The light-weight anthropomorphic structure designed...
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