Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Controlling the Human-Robot Interaction for Robotic Rehabilitation of Locomotion.


S. Jezernik, M. Morari

International Workshop on Advanced Motion Control, Maribor, Slovenia, pp. 133-135

The research work reported in this article aims at improving the robotic rehabilitation of locomotion employed at our rehabilitation center Paracare (University Hospital Balgrist, Zürich). Two algorithms have been developed and tested in simulations and actual experiments that estimate the human-robot interaction and by this means allow for automatic gait-pattern adaptation during the rehabilitation training. Thus, the patient is able to voluntarily influence the way he/she is walking on the treadmill, which increases his/her motivation and active rehabilitation effort. If the latter has a potential to further improve the rehabilitation outcome will be a subject of our further investigations in clinical studies. The focus of this article will be on the adaptation algorithms.

Further Information

Type of Publication:


File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@InProceedings { JezMor:2002:IFA_788,
    author={S. Jezernik and M. Morari},
    title={{Controlling the Human-Robot Interaction for Robotic
	  Rehabilitation of Locomotion.}},
    booktitle={International Workshop on Advanced Motion Control},
    address={Maribor, Slovenia},
Permanent link