A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation

被引：26

作者：

Ichinose, WE ^{[1
]}

Reinkensmeyer, DJ ^{[1
]}

Aoyagi, D ^{[1
]}

Lin, JT ^{[1
]}

Ngai, K ^{[1
]}

Edgerton, VR ^{[1
]}

Harkema, SJ ^{[1
]}

Bobrow, JE ^{[1
]}

机构：

[1] Univ Calif Irvine, Dept Mech & Aerosp Engn, Irvine, CA 92717 USA

来源：

PROCEEDINGS OF THE 25TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-4: A NEW BEGINNING FOR HUMAN HEALTH | 2003年 / 25卷

关键词：

locomotion; rehabilitation; robotics;

D O I：

10.1109/IEMBS.2003.1279715

中图分类号：

R5 [内科学];

学科分类号：

1002 ; 100201 ;

摘要：

This paper describes a robotic device for measuring and manipulating pelvic motion during step training on a treadmill. "PAM" (Pelvic Assist Manipulator) uses two, three-degree-of-freedom, pneumatic robots to measure and control the pelvis of a person during body weight supported stepping on a treadmill. The device can be used in a passive mode to record pelvic trajectories, either specified manually by a therapist or pre-recorded from unimpaired subjects, then replay these trajectories using a non-linear force control algorithm. Data are presented that demonstrate the ability of the device to record and replay the pelvic motions that occur during normal walking.

引用

页码：1690 / 1693

页数：4

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