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Automatic Gait-Pattern Adaptation Algorithms for Rehabilitation with a 4 DOF Robotic Orthosis


S. Jezernik, G. Colombo, M. Morari

IEEE Transactions on Robotics and Automation, vol. 20, no. 3, pp. 574-582

This paper presents newly developed algorithms for automatic adaptation of motion for a robotic rehabilitation device. The algorithms adapt the gait-pattern of patients that walk on a treadmill. Three different algorithms were developed. The first one is based on inverse dynamics and on-line minimization of the human-machine interaction torque. The second one is based on direct dynamics and estimation of the desired variation in the gait-pattern acceleration. The third algorithm is based on impedance control and direct adaptation of the gait-pattern angular trajectories. The algorithms were tested and compared in computer simulations and actual experiments on healthy subjects and patients. All algorithms have in simulations adapted the gait-pattern towards the desired one, which led to a greater than 40% reduction of interaction torques. Impedance control based algorithm performed best in the experiments.


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% Autogenerated BibTeX entry
@Article { JezCol:2004:IFA_397,
    author={S. Jezernik and G. Colombo and M. Morari},
    title={{Automatic Gait-Pattern Adaptation Algorithms for
	  Rehabilitation with a 4 DOF Robotic Orthosis}},
    journal={IEEE Transactions on Robotics and Automation},
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