HUMAN STEP REHABILITATION USING A ROBOT ATTACHED TO THE PELVIS

机译：使用附在骨盆上的机器人进行人步修复

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This paper describes a new robot capable of manipulating pelvic motion during human step training on a treadmill. The robot, PAM (Pelvic Assist Manipulator), uses two pneumatically actuated subsystems arranged in a tripod configuration to measure and control the pelvis of a person during body weight supported stepping on a treadmill. The device can be used in a back-drivable mode to record pelvic trajectories, either specified manually by a therapist or pre-recorded from unimpaired subjects, then replay these trajectories using a PD position feedback control law in the task space and a non-linear force control algorithm for each piston chamber. The control laws are presented, along with data that demonstrate the ability of the device to record and replay the pelvic motions that occur during normal walking.

机译：本文介绍了一种新的机器人，该机器人能够在跑步机上进行人类脚步训练期间操纵骨盆运动。机器人PAM（骨盆辅助机械手）使用两个以三脚架结构布置的气动子系统来测量和控制体重，并在跑步机上踩踏人体。该设备可以在向后驱动模式下使用，以记录骨盆轨迹，由治疗师手动指定或预先记录未受损受试者的骨盆轨迹，然后在工作空间和非线性环境中使用PD位置反馈控制定律重播这些轨迹每个活塞腔的力控制算法。给出了控制律以及表明设备记录和重放正常行走过程中发生的骨盆运动的能力的数据。

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来源
《DSC-vol.73-1; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition pt.A; 20041113-19; Anaheim,CA(US)》|2004年|P.443-449|共7页
会议地点 AnaheimCA(US)
作者
D. Aoyagi; W.E. Ichinose; D.J. Reinkensmeyer; J.E. Bobrow;
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作者单位

Department of Mechanical and Aerospace Engineering University of California, Irvine 4200 Engineering Gateway, Irvine, California 92697-3975, USA;

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原文格式 PDF
正文语种 eng
中图分类液压传动;自动控制、自动控制系统;
关键词
locomotion; rehabilitation; robotics; pneumatic control; force control; hierarchical control;

机译：运动;康复;机器人学;气动控制;力控制;分层控制;

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专利

1. Adaptation to a Cortex-Controlled Robot Attached at the Pelvis and Engaged during Locomotion in Rats. [J] . Song W, Giszter SF The Journal of Neuroscience: The Official Journal of the Society for Neuroscience . 2011,第8期

机译：适应于附着在骨盆上并在大鼠运动过程中参与的皮质控制机器人。
2. Bilateral step length estimation using a single inertial measurement unit attached to the pelvis [J] . Alper K?se, Andrea Cereatti, Ugo Della Croce Journal of NeuroEngineering Rehabilitation . 2012,第1期

机译：使用连接到骨盆的单个惯性测量单元估算双边步长
3. Early Poststroke Rehabilitation Using a Robotic Tilt-Table Stepper and Functional Electrical Stimulation [J] . Alexey N.Kuznetsov, Natalia V.Rybalko, Vadim D.Daminov, Stroke Research and Treatment . 2013,第1期

机译：使用机器人倾斜台步进器和功能性电刺激进行早期中风康复
4. HUMAN STEP REHABILITATION USING A ROBOT ATTACHED TO THE PELVIS [C] . D. Aoyagi, W. E. Ichinose, D. J. Reinkensmeyer, ASME International Mechanical Engineering Congress and Exposition . 2004

机译：使用连接到骨盆的机器人的人类步骤康复
5. A robotic device for human gait rehabilitation: Achieving naturalistic assistance for the pelvis and legs through compliant pneumatic actuation and temporal synchronization [D] . Aoyagi, Daisuke. 2006

机译：用于步态康复的机器人设备：通过顺应性的气动促动和时间同步，实现对骨盆和腿的自然辅助
6. Adaptation to a Cortex-Controlled Robot Attached at the Pelvis and Engaged during Locomotion in Rats [O] . Weiguo Song, Simon F. Giszter 2011

机译：适应于附着在骨盆上并在大鼠运动过程中参与的皮质控制机器人
7. Bilateral step length estimation using a single inertial measurement unit attached to the pelvis [O] . Alper Kose, Andrea Cereatti, Ugo Della Croce 2012

机译：使用连接到骨盆的单个惯性测量单元估算双边步长

HUMAN STEP REHABILITATION USING A ROBOT ATTACHED TO THE PELVIS

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