A System for Gait Rehabilitation with Body Weight Support - Mobile Manipulator Approach

• 영문명: A System for Gait Rehabilitation with Body Weight Support
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Choon-Young Lee Kap-Ho Seo Changmok Oh Ju-Jang Lee
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』Journal of HWRS-ERC Vol.2 No.3, 16~21쪽, 전체 6쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2001.11.01

영문 초록

  A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mobile manipulator used to compensate for dynamic interactions, unmodeled dynamics, and disturbances by the user on the system, is derived and experimental results are shown.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. A GAIT REHABILITATION SYSTEM
Ⅲ. NEURAL NETWORK BASED CONTROL
Ⅳ. EXPERIMENT
Ⅴ. CONCLUSIONS
ACKNOWLEDGMENTS
REFERENCES

키워드

Rehabilitation Robot System Gait Rehabilitation Neural Network based Control Mobile Manipulator