NDLI: A Novel Method for Automatic Treadmill Speed Adaptation

Content Provider	IEEE Xplore Digital Library
Author	von Zitzewitz, J. Bernhardt, M. Riener, R.
Copyright Year	2001
Abstract	Robot-aided treadmill training is an innovative rehabilitation method for patients with locomotor dysfunctions. However, in current rehabilitation systems treadmill speed is restricted to constant values or adjusted by the therapist, whereas self-determined phases of accelerations and decelerations cannot be performed by the patient in an interactive and intuitive way. We present a new approach that allows treadmill walking with intuitive gait speed adaptation. In this approach, the user's trunk position is fixed in walking direction. The horizontal interaction forces applied by the user intending to accelerate or decelerate the gait are measured at the trunk connection and fed to the treadmill controller. The desired gait acceleration is calculated by means of a virtual admittance. Integration yields the desired speed which is fed into the underlying velocity controller of the treadmill. The method was verified by two experimental setups and tested on ten healthy subjects. In one setup, the subject's trunk was rigidly connected by a tether, whereas in the second setup the subject was placed in a robotic gait orthosis. All subjects were able to use both systems immediately and intuitively. The treadmill speed profile during the gait cycle corresponds to that of normal walking. The controller can be extended to simulate different walking conditions, such as slope walking. The method can be used for patient-cooperative control strategies performed with a robotic gait orthosis as well as for any other user-interactive applications in fitness and sports.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	9
File Size	1242687
Starting Page	401
Ending Page	409
File Format	PDF
ISSN	15344320
Volume Number	15
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Acceleration Robots Rehabilitation robotics Robotics and automation Force measurement Force control Admittance Velocity control Testing treadmill training Admittance control force feedback gait therapy haptic interfaces locomotion interfaces neuro-rehabilitation robotics
Content Type	Text
Resource Type	Article
Subject	Neuroscience Rehabilitation Internal Medicine Biomedical Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Voluntary gait speed adaptation for robot-assisted treadmill training

Patient-cooperative strategies for robot-aided treadmill training: first experimental results

Development of an active haptic cane for gait rehabilitation

Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface

Gait trajectory planning and simulation for the powered gait orthosis

Robotic gait training: toward more natural movements and optimal training algorithms

Impedance control of a small treadmill with sonar sensors for automatic speed adaptation

Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

A Novel Method for Automatic Treadmill Speed Adaptation

Similar Documents

Voluntary gait speed adaptation for robot-assisted treadmill training

Patient-cooperative strategies for robot-aided treadmill training: first experimental results

Development of an active haptic cane for gait rehabilitation

Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface

Gait trajectory planning and simulation for the powered gait orthosis

Robotic gait training: toward more natural movements and optimal training algorithms

Impedance control of a small treadmill with sonar sensors for automatic speed adaptation

Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

A Novel Method for Automatic Treadmill Speed Adaptation