Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 15; no. 3; pp. 379 - 386
• Main Authors: Veneman, Jan F., Kruidhof, Rik, Hekman, Edsko E. G., Ekkelenkamp, Ralf, Van Asseldonk, Edwin H. F., van der Kooij, Herman
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.09.2007; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Body-weight supported treadmill training; Electromyography; Equipment Design; Equipment Failure Analysis; Exercise Test - instrumentation; Exercise Test - methods; exo skeleton robot; Exoskeletons; Gait Disorders, Neurologic - rehabilitation; gait training device; Hip; Humans; Knee; Leg; Legged locomotion; Man-Machine Systems; Pelvis; Position measurement; Rehabilitation robotics; Robotics - instrumentation; Robotics - methods; Robots; Therapy, Computer-Assisted - instrumentation; Therapy, Computer-Assisted - methods; User-Computer Interface

This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to...