TY - GEN
T1 - Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training
AU - Zanotto, Damiano
AU - Stegall, Paul
AU - Agrawal, Sunil K.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - This paper introduces the overall design of ALEX III, the third generation of Active Leg Exoskeletons developed by our group. ALEX III is the first treadmill-based rehabilitation robot featuring 12 actively controlled degrees of freedom (DOF): 4 at the pelvis and 4 at each leg. As a first application of the device, we present an adaptive controller aimed to improve gait symmetry in hemiparetic subjects. The controller continuously modulates the assistive force applied to the impaired leg, based on the outputs of kernel-based non-linear filters, which learn the movements of the healthy leg. To test the effectiveness of the controller, we induced asymmetry in the gait of three young healthy subjects adding ankle weights (2.3kg). Results on kinematic data showed that gait symmetry was recovered when the controller was active.
AB - This paper introduces the overall design of ALEX III, the third generation of Active Leg Exoskeletons developed by our group. ALEX III is the first treadmill-based rehabilitation robot featuring 12 actively controlled degrees of freedom (DOF): 4 at the pelvis and 4 at each leg. As a first application of the device, we present an adaptive controller aimed to improve gait symmetry in hemiparetic subjects. The controller continuously modulates the assistive force applied to the impaired leg, based on the outputs of kernel-based non-linear filters, which learn the movements of the healthy leg. To test the effectiveness of the controller, we induced asymmetry in the gait of three young healthy subjects adding ankle weights (2.3kg). Results on kinematic data showed that gait symmetry was recovered when the controller was active.
UR - http://www.scopus.com/inward/record.url?scp=84929164368&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2014.6906934
DO - 10.1109/ICRA.2014.6906934
M3 - Conference contribution
AN - SCOPUS:84929164368
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 724
EP - 729
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -