Design of Human-Machine Interface and altering of pelvic obliquity with RGR Trainer

IEEE Int Conf Rehabil Robot. 2011:2011:5975496. doi: 10.1109/ICORR.2011.5975496.

Abstract

The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine Interface (HMI) and we demonstrate the system's ability to alter the pattern of movement of the pelvis during gait in a healthy subject. Results are shown for experiments during which we induced hip-hiking - in healthy subjects. Our findings indicate that the RGR Trainer has the ability of affecting pelvic obliquity during gait. Furthermore, we provide preliminary evidence of short-term retention of the modified pelvic obliquity pattern induced by the RGR Trainer.

Publication types

  • Research Support, U.S. Gov't, Non-P.H.S.

MeSH terms

  • Algorithms
  • Gait / physiology
  • Hip Joint / physiology
  • Humans
  • Robotics / instrumentation*
  • Robotics / methods
  • Stroke Rehabilitation*