Human Step Rehabilitation Using a Robot Attached to the Pelvis

D. Aoyagi, W. E. Inchinose, D. J. Reinkensmeyer, J. E. Bobrow
2004 Dynamic Systems and Control, Parts A and B   unpublished
This paper describes a new robot capable of manipulating pelvic motion during human step training on a treadmill. The robot, PAM, (Pelvic Assist manipulator) uses two, pneumatically actuated subsystems arranged in a tripod configuration 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
more » ... d subjects, then replay these trajectories using a non-linear force control algorithm. The control laws of the robot are presented, along with data that demonstrate the ability of the device to record and replay the pelvic motions that occur during normal walking.
doi:10.1115/imece2004-59472 fatcat:oorgzlqau5fy3eibgiqc7hzoye