Robotic Gait Rehabilitation Trainer
IEEE/ASME transactions on mechatronics
Current methods of robotic neurorehabilitation of gait often do not address secondary gait deviations, focusing instead on only the primary gait deviations. Therefore, a robotic system was developed, which guides the pelvis in the frontal plane (pelvic obliquity), in order to address hip-hiking -the most common secondary gait deviation. A prototype of the device was built with a single actuator and impedance control system to generate force field and transfer it to the patient's pelvis via a
... t's pelvis via a lower body exoskeleton. The RGR Trainer's ability to alter gait pattern via force fields applied to pelvic obliquity was tested on several healthy subjects. It was found that the RGR Trainer can coax healthy subjects to walk with an altered gait pattern, and signs of retention of this newly learned gait pattern have been observed. Thesis Supervisor: Prof. Constantinos Mavroidis Professor of Mechanical Engineering iii Acknowledgement I owe my deepest gratitude to my advisor, Professor Constantinos Mavroidis, who has given me the opportunity to work under his guidance at the Biomedical Mechatronics Laboratory, and on the research project presented in this thesis. I am also very grateful to Dr. Paolo Bonato from Spaulding Rehabilitation Hospital, for his involvement in the project and the human subject testing of the RGR Trainer. I'm also very grateful for the time and energy invested by Iahn Cajigas from Spaulding Rehabilitation Hospital, who has been involved in many aspects of this project from the very beginning. I would also like to thank my colleagues at the Biomedical Mechatronics Laboratory: Ozer Unluhisarcikli, Richard Ranky, Mark Sivak and Brian Weinberg, who have been all very supportive throughout the duration of my graduate studies, and who have contributed in many ways to the project. Finally, I'd like to thank my parents, Jan and Grażyna for their emotional and financial support throughout my life and during the last 5 years of my graduate studies in particular.