A gait rehabilitation strategy inspired by an iterative learning algorithm |
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Authors: | Joonbum Bae Masayoshi Tomizuka |
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Affiliation: | 1. School of Mechanical and Advanced Materials Engineering, UNIST, Ulsan, Republic of Korea;2. Department of Mechanical Engineering, University of California, Berkeley, CA 94720, USA;1. School of Engineering, Deakin University, Waurn ponds, Victoria 3216, Australia;2. IntegrITi Pty.Ltd / Versus Fitness;1. Division of Digestive Diseases, Department of Medicine, University of Mississippi Medical Center, Jackson, Mississippi, USA;2. Department of Gastroenterology, Peking Union Medical College Hospital Beijing, China;1. Department of Mechanical Engineering, Politeknik Sultan Azlan Shah, Behrang Stesen, 35950 Behrang, Perak, Malaysia;2. Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia;3. Center for Automotive Research(CAR), Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia;4. School of Electronics, Electrical Engineering and Computer Science, Queen’s University Belfast, BT9 5BN Belfast, United Kingdom |
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Abstract: | Robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical therapists. In manual gait rehabilitation training, physical therapists have patients practice and memorize normal gait patterns by applying assistive torque to the patient’s joint once the patient’s gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient’s joint during rehabilitation training. In this paper, the gait rehabilitation strategy inspired by an iterative learning algorithm is proposed, which uses the repetitive characteristic of gait motions. In the proposed strategy, the assistive joint torque in the current stride is calculated based on the information from previous strides. Simulation results and experimental results using an active knee orthosis are presented, which verify that the proposed strategy can be used to calculate appropriate assistive joint torque to excise the desired motions for rehabilitation. |
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