GRAVITY-ASSIST: A Series Elastic Body Weight Support System with Inertia Compensation

被引：0

作者：

Munawar, Haininad ^{[1
]}

Patoglu, Volkan ^{[1
]}

机构：

[1] Sabanci Univ, Fac Engn & Nat Sci, Istanbul, Turkey

来源：

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) | 2016年

关键词：

WALKING; GAIT;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We present GRAVITY-ASS1ST, a series elastic active body weight support and inertia compensation system for use in robot assisted gait rehabilitation. The device consists of a single degree of freedom series elastic actuator that connects to the trunk of a patient. The series elastic system is novel in that, it can provide the desired level of dynamic unloading such that the patient experiences only a percentage of his/her weight and inertia. Inertia compensation is important, since the inertial threes can cause significant deviations from the desired unloading force, specially at low support forces and fast walking speeds. Furthermore, this feature enables the inertia of the harness and force sensing unit attached to the patient to be compensated for, making sure that the device does not interfere with the natural gait cycle. We present a functional prototype of the device, its characterization and experimental verification of the approach.

引用

页码：3036 / 3041

页数：6

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