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首页> 外文会议>IEEE International Conference on Intelligence and Safety for Robotics >An Adaptive Shared Control of a Novel Robotic Walker for Gait Rehabilitation of Stroke Patients
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An Adaptive Shared Control of a Novel Robotic Walker for Gait Rehabilitation of Stroke Patients

机译：一种新型机器人步行者进行脑卒中患者步态康复的自适应共享控制

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An increasing number of stroke patients are suffering from motor disability. For enhancing their quality of daily life, recovery from disabled ambulation is in urgent need. Traditional robotic gait rehabilitation systems with treadmill assistance constrain stroke patients in sagittal plane and restricting pelvic horizontal motion. In order to solve these problems, A novel robotic walker was proposed for effective gait rehabilitation. It is composed of a body weight support (BWS) unit and an active omni-directional mobile platform to assist gait training, including anterior-posterior, medio-Iateral, rotational pelvic movements and supports for balance and postural control. In order to improve self-motivated ambulatory ability, an adaptive shared control strategy is proposed, which automatically executes human-in-charge or robot-in-charge mode during gait training. 3 healthy young subjects were recruited in experiments to assess performance and effectiveness of this controller. Their kinematic changes and muscle activities in experiments showed beneficial influence of the robotic walker with the adaptive shared control for gait rehabilitation.
机译：越来越多的中风患者患有运动残疾。为了提高日常生活的质量，急需恢复残疾人救援。传统机器人步态康复系统与跑步机辅助约束中风患者在矢状平面上并限制盆腔水平运动。为了解决这些问题，提出了一种新颖的机器人沃克，以实现有效的步态康复。它由体重支持（BWS）单元和有源全向移动平台组成，可以帮助步态训练，包括前后，METIO-IATERAL，旋转盆腔运动和平衡和姿势控制的支撑。为了提高自我激励的动态能力，提出了一种自适应共享控制策略，其在步态训练期间自动执行人负荷或机器人。在实验中招募了3个健康的年轻科目，以评估本控制器的性能和有效性。他们的运动学变化和实验中的肌肉活动表现出机器人步行者对步态康复的自适应共享控制的有益影响。

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