Adaptive Impedance Control of a Robotic Orthosis for Gait Rehabilitation

• Published in: IEEE transactions on cybernetics Vol. 43; no. 3; pp. 1025 - 1034
• Main Authors: Hussain, S., Xie, S. Q., Jamwal, P. K.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2013; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control systems; Adaptive impedance control; Algorithms; assist as needed (AAN); Biofeedback, Psychology - instrumentation; Biofeedback, Psychology - methods; Computer Simulation; Electric Impedance; Gait; Gait Disorders, Neurologic - physiopathology; Gait Disorders, Neurologic - rehabilitation; Hip; Human; Human subjects; Humans; Impedance; Interactive; Joints; Man-Machine Systems; Models, Biological; Orthoses; pneumatic muscle actuators (PMAs); robotic orthosis; Robotics; Robotics - instrumentation; Robotics - methods; Robots; Therapy, Computer-Assisted - instrumentation; Therapy, Computer-Assisted - methods; Torque; Training

Intervention of robotic devices in the field of physical gait therapy can help in providing repetitive, systematic, and economically viable training sessions. Interactive or assist-as-needed (AAN) gait training encourages patient voluntary participation in the robotic gait training process which may...