Estimation and volitional feedback control of active work rate during robot-assisted gait

A Pennycott; K. J. Hunt; L. P. Jack; C Perret; T. H. Kakebeeke

doi:10.1016/j.conengprac.2008.09.011

Estimation and volitional feedback control of active work rate during robot-assisted gait

A Pennycott, K. J. Hunt, L. P. Jack, C Perret, T. H. Kakebeeke

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

22 Citations (SciVal)

Abstract

Body weight supported robotic-assisted devices are normally used in gait rehabilitation of neurologically impaired persons but also have potential for application in cardiopulmonary rehabilitation. In this paper, a method of estimating and controlling the rate of active work done during supported stepping is proposed and experimentally validated through ambulation of three subjects with a spinal cord injury. The estimation and feedback scheme enabled work rates to be produced in close agreement to reference values. The efficacy of the proposed control scheme will facilitate the use of the technology in cardiopulmonary training and testing protocols.

Original language	English
Pages (from-to)	322-328
Number of pages	7
Journal	Control Engineering Practice
Volume	17
Issue number	2
DOIs	https://doi.org/10.1016/j.conengprac.2008.09.011
Publication status	Published - 2 Feb 2009

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10.1016/j.conengprac.2008.09.011

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abstract = "Body weight supported robotic-assisted devices are normally used in gait rehabilitation of neurologically impaired persons but also have potential for application in cardiopulmonary rehabilitation. In this paper, a method of estimating and controlling the rate of active work done during supported stepping is proposed and experimentally validated through ambulation of three subjects with a spinal cord injury. The estimation and feedback scheme enabled work rates to be produced in close agreement to reference values. The efficacy of the proposed control scheme will facilitate the use of the technology in cardiopulmonary training and testing protocols.",

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AB - Body weight supported robotic-assisted devices are normally used in gait rehabilitation of neurologically impaired persons but also have potential for application in cardiopulmonary rehabilitation. In this paper, a method of estimating and controlling the rate of active work done during supported stepping is proposed and experimentally validated through ambulation of three subjects with a spinal cord injury. The estimation and feedback scheme enabled work rates to be produced in close agreement to reference values. The efficacy of the proposed control scheme will facilitate the use of the technology in cardiopulmonary training and testing protocols.

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JO - Control Engineering Practice

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Estimation and volitional feedback control of active work rate during robot-assisted gait

Abstract

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