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Der virtuelle Therapeut: Kraftunterstützende Regelungsstrategien für eine aktuierte Gangorthese

Author(s):

M. Bernhardt, M. Fre., M. Anderschitz, G. Colombo, R. Riener
Conference/Journal:

Jahrestagung der Deutschen Gesellschaft für Biomedizinische Technik, Illmenau
Abstract:

A new rehabilitation robot, the Lokomat, has been developed at the Spinal Cord Injury Center of the Balgrist University Hospital, Zurich. It allows automated treadmill training for patients with mobility impairment in the lower limbs. Former position control strategies did not enable active movements of the patient. To increase the patients motivation to an active force contribution , the following paper presents a new force supportive control structure for the Lokomat. Based on a dynamic model of the human gait, the patient is supported with an arbitrary percentage of the force he needs to walk. The new control strategy is highly patient driven, and allows walking only if the patient makes a physical contribution . Thus the motivation of the patient is maximized.

Year:

2004
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { BerEtal:2004:IFA_1960,
    author={M. Bernhardt and M. Fre. and M. Anderschitz and G. Colombo and R.
	  Riener},
    title={{Der virtuelle Therapeut: Kraftunterst{\"u}tzende
	  Regelungsstrategien f{\"u}r eine aktuierte Gangorthese}},
    booktitle={Jahrestagung der Deutschen Gesellschaft f{\"u}r
	  Biomedizinische Technik},
    pages={},
    year={2004},
    address={Illmenau},
    month=sep,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=1960}
}
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