Mobile Robotic Assistive Balance Trainer - An intelligent compliant and adaptive robotic balance assistant for daily living

• Published in: 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Vol. 2014; pp. 5300 - 5303
• Main Authors: Tiseo, Carlo, Zhen Yi Lim, Cheng Yap Shee, Wei Tech Ang
• Format: Conference Proceeding Journal Article
• Language: English
• Published: United States IEEE 01.01.2014
• Subjects: Activities of Daily Living; Algorithms; Biomechanical Phenomena; Equations; Humans; Joints; Kinematics; Legged locomotion; Mobile communication; Nervous System Diseases - rehabilitation; Neuronal Plasticity - physiology; Postural Balance - physiology; Robot kinematics; Robotics
• DOI: 10.1109/EMBC.2014.6944822
• ISSN: 1094-687X; 1557-170X

Balance control probably has the greatest impact on independence in activities of daily living (ADL), because it is a fundamental motor skill and prerequisite to the maintenance of a myriad of postures and mobile activities. We propose a new rehabilitation therapy to administer standing and mobile balance control training, enabled by a Mobile Robotic Assistive Balance Trainer (MRABT). The targeted group for this initial work is post stroke patients, although it can be extended to subjects with other neurological insults in the future. The proposed system consists of a mobile base and a parallel robotic arm which provides support to the patient at the hip. The compliant robotic arm with intelligent control algorithm will only provide support and assistance to the patient when the center of mass of the body deviates beyond the predefined safety boundary, mimicking the helping hands of a parent when a toddler learns to walk. In this paper, we present our initial work in the design and kinematic analysis of the system.