A System for Gait Rehabilitation with Body Weight Support - Mobile Manipulator Approach
A System for Gait Rehabilitation with Body Weight Support
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A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mobile manipulator used to compensate for dynamic interactions, unmodeled dynamics, and disturbances by the user on the system, is derived and experimental results are shown.
Abstract<BR>Ⅰ. INTRODUCTION<BR>Ⅱ. A GAIT REHABILITATION SYSTEM<BR>Ⅲ. NEURAL NETWORK BASED CONTROL<BR>Ⅳ. EXPERIMENT<BR>Ⅴ. CONCLUSIONS<BR>ACKNOWLEDGMENTS<BR>REFERENCES<BR>
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