Estimation and volitional feedback control of active work rate during robot-assisted gait

Body weight supported robotic-assisted devices are normally used in gait rehabilitation of neurologically impaired persons but also have potential for application in cardiopulmonary rehabilitation. In this paper, a method of estimating and controlling the rate of active work done during supported st...

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Bibliographic Details
Published in:	Control engineering practice Vol. 17; no. 2; pp. 322 - 328
Main Authors:	Pennycott, A., Hunt, K.J., Jack, L.P., Perret, C., Kakebeeke, T.H.
Format:	Journal Article
Language:	English
Published:	Kidlington Elsevier Ltd 01-02-2009 Elsevier
Subjects:	Applied sciences Biofeedback Biomechanics Computer science; control theory; systems Control theory. Systems Exact sciences and technology Feedback control Modelling and identification Rehabilitation robotics Robotics Spinal cord injury Biomechanics Rehabilitation robotics Biofeedback Feedback control Spinal cord injury Gait Feedback regulation Physical rehabilitation Robotics Closed feedback Reeducation System identification Rehabilitation
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Summary:	Body weight supported robotic-assisted devices are normally used in gait rehabilitation of neurologically impaired persons but also have potential for application in cardiopulmonary rehabilitation. In this paper, a method of estimating and controlling the rate of active work done during supported stepping is proposed and experimentally validated through ambulation of three subjects with a spinal cord injury. The estimation and feedback scheme enabled work rates to be produced in close agreement to reference values. The efficacy of the proposed control scheme will facilitate the use of the technology in cardiopulmonary training and testing protocols.
ISSN:	0967-0661 1873-6939
DOI:	10.1016/j.conengprac.2008.09.011