TY - GEN
T1 - Compliant velocity based force coordinate transformation control for gait rehabilitation
AU - Sasayama, Misako
AU - Murakami, Toshiyuki
PY - 2014/1/1
Y1 - 2014/1/1
N2 - With the rapid increase in the aging population of Japan, the need for robotic gait training has grown. This paper presents a gait training device that guides the leg movements during gait, and a gait rehabilitation system using compliant force coordinate transformation control (CFCT) is proposed. The CFCT controller uses the direction of force applied by the patient to the device, and through coordinate transformation, divides the force into tangential and normal components based on the reference trajectory. Then, the force is applied to a compliance controller to smoothly guide the subjects' legs in the intended direction. Switching conditions, which ensures the correct movement of the gait guidance, are designed to be used in pair with the CFCT controller. The controller is evaluated through experiments.
AB - With the rapid increase in the aging population of Japan, the need for robotic gait training has grown. This paper presents a gait training device that guides the leg movements during gait, and a gait rehabilitation system using compliant force coordinate transformation control (CFCT) is proposed. The CFCT controller uses the direction of force applied by the patient to the device, and through coordinate transformation, divides the force into tangential and normal components based on the reference trajectory. Then, the force is applied to a compliance controller to smoothly guide the subjects' legs in the intended direction. Switching conditions, which ensures the correct movement of the gait guidance, are designed to be used in pair with the CFCT controller. The controller is evaluated through experiments.
KW - Compliance control
KW - Coordinate transformation
KW - Gait conditions
KW - Gait phase transition
KW - Rehabilitation device
UR - http://www.scopus.com/inward/record.url?scp=84903171338&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903171338&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823291
DO - 10.1109/AMC.2014.6823291
M3 - Conference contribution
AN - SCOPUS:84903171338
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 254
EP - 259
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -