Send to

Choose Destination
Conf Proc IEEE Eng Med Biol Soc. 2009;2009:1758-61. doi: 10.1109/IEMBS.2009.5333096.

Model-based Heart rate prediction during Lokomat walking.

Author information

Sensory Motor Systems Lab, ETH Zurich, Institute of Robotics and Intelligent Systems, Department of Mechanical Engineering and Process Engineering, ETH Zurich, Switzerland.


We implemented a model for prediction of heart rate during Lokomat walking. Using this model, we can predict potential overstressing of the patient and adapt the physical load accordingly. Current models for treadmill based heart rate control neglect the fact that the interaction torques between Lokomat and human can have a significant effect on heart rate. Tests with five healthy subjects lead to a model of sixth order with walking speed and power expenditure as inputs and heart rate prediction as output. Recordings with five different subjects were used for model validation. Future work includes model identification and predictive heart rate control with spinal cord injured and stroke patients.

[Indexed for MEDLINE]
Free full text

Supplemental Content

Full text links

Icon for IEEE Engineering in Medicine and Biology Society Icon for Zurich Open Access Repository and Archive
Loading ...
Support Center