Velocity-dependent reference trajectory generation for the LOPES gait training robot

• Published in: 2011 IEEE International Conference on Rehabilitation Robotics Vol. 2011; pp. 1 - 5
• Main Authors: Tufekciler, N., van Asseldonk, E. H. F., van der Kooij, H.
• Format: Conference Proceeding Journal Article
• Language: English
• Published: United States IEEE 01.01.2011
• Subjects: Adult; Exoskeletons; Feedforward neural networks; Female; gait; Gait - physiology; Gait Disorders, Neurologic - rehabilitation; gait therapy; Hip; Humans; Impedance; Joints; Legged locomotion; Male; neurorehabilitation; rehabilitation robots; Robotics - instrumentation; Robotics - methods; Trajectory; Walking - physiology
• ISBN: 1424498635; 9781424498635
• ISSN: 1945-7898; 1945-7901; 1945-7901
• DOI: 10.1109/ICORR.2011.5975414

The aim of this study is to assess the feasibility of an approach for generating velocity-dependent trajectories to train neurologically injured patients. The reference trajectories are constructed based on the gait patterns of subjects walking on a treadmill. By extracting key events (parameters) from these trajectories, the velocity dependency of the parameters is determined by regression analysis. Then, splines are fitted through these points to obtain gait patterns (position, velocity and acceleration) for specific walking velocities. Considering the severely injured patients, a feedforward controller is used in addition to the impedance controller. The approach is implemented on the LOPES gait rehabilitation robot and evaluated on healthy subjects. Results indicate that the subjects can walk naturally in the robot with the constructed reference trajectories. Further improvements to the technical design and additional testing of healthy and impaired subjects are required to show whether this approach can be transferred to clinical domain.