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Impedance Control Based Gait-Pattern Adaptation for a Robotic Rehabilitation Device


S. Jezernik, K. Jezernik, M. Morari

IFAC Conference on Mechatronic Systems, San Francisco, USA, pp. 417-421

A novel impedance control scheme has been developed for a robotic rehabilitation orthosis. The scheme comprises an inner force control loop and an outer position control loop. The performance of the impedance controller was tested in computer simulations and in actual experiments. Further on, a novel gait-pattern adaptation algorithm based on the impedance control was formulated and realized. The algorithm adapts the reference walking trajectories according to the physical interaction of the patient with the robotic orthosis. In this way the patient can actively influence the motion during the rehabilitation exercise. Experiments with healthy subjects and spinal cord injured patients demonstrated that the algorithm was able to provide the desired gait-pattern adaptation.

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% Autogenerated BibTeX entry
@InProceedings { JezJez:2002:IFA_300,
    author={S. Jezernik and K. Jezernik and M. Morari},
    title={{Impedance Control Based Gait-Pattern Adaptation for a
	  Robotic Rehabilitation Device}},
    booktitle={IFAC Conference on Mechatronic Systems},
    address={San Francisco, USA},
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