A body weight support system extension to control lateral forces: realization and validation

Dario Wyss, Volker Bartenbach, Andrew Pennycott, Robert Riener, Heike Vallery

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Body weight support systems are frequently used as part of robotic gait training to provide unloading in order to help subjects perform walking, but can also induce stabilizing forces and render the task of maintaining balance less challenging. In this paper, a two-dimensional body weight support system extension is presented which reduces lateral forces induced on the subject by means of linearly translating the cable pulley according to lateral movements of the subject. It is demonstrated that the system accurately tracks lateral movements of the pelvis at different levels of vertical support load and thereby lowers the induced lateral forces. The system will be used in advanced robotic body weight supported treadmill walking incorporating a balance training element.
Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages328-332
Number of pages5
ISBN (Electronic)9781479936854
DOIs
Publication statusPublished - 2014
Event2014 IEEE International Conference on Robotics and Automation (ICRA) - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Conference

Conference2014 IEEE International Conference on Robotics and Automation (ICRA)
CountryChina
CityHong Kong
Period31/05/147/06/14

Cite this

Wyss, D., Bartenbach, V., Pennycott, A., Riener, R., & Vallery, H. (2014). A body weight support system extension to control lateral forces: realization and validation. In 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp. 328-332). IEEE. https://doi.org/10.1109/ICRA.2014.6906630