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Automatic gait-pattern adaptation for treadmill training with robotic orthosis Lokomat.


S. Jezernik, G. Colombo, M. Morari

Congress of the Int. Society of Biomechanics, Zürich, Switzerland, no. 18, pp. 204

Treadmill training is a recent, but already established rehabilitation exercise to improve the mobility of spinal cord injured patients. Physiotherapists move the legs of the partially body-weight unloaded patients in a periodic way to achieve walking on the treadmill. A robotic orthosis called Lokomat (4 DOF, joint-trajectory position control) was built at ParaCare to automate the treadmill training in order to provide more regular and prolonged training and to relieve the physiotherapists. However, an active patient effort and a varying gait-pattern might increase the therapeutic effect of the training. An on-line gait-pattern adaptation algorithm was therefore developed for this purpose. It allows the patient to influence and modify the reference hip and knee angle trajectories that are controlled by the position controllers. In this way, the patient is able to train with the desired gait-pattern that due to the in-built constraints remains physiological.


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% Autogenerated BibTeX entry
@InProceedings { JezCol:2001:IFA_168,
    author={S. Jezernik and G. Colombo and M. Morari},
    title={{Automatic gait-pattern adaptation for treadmill training
	  with robotic orthosis Lokomat.}},
    booktitle={Congress of the Int. Society of Biomechanics},
    address={Z{\"u}rich, Switzerland},
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