NDLI: Concept of a mobile robot-assisted gait rehabilitation system

Content Provider	IEEE Xplore Digital Library
Author	Slavnic, S. Leu, A. Ristic-Durrant, D. Graser, A.
Copyright Year	2010
Description	Author affiliation: Institute of Automation, University of Bremen, NW1, Otto-Hahn-Allee 1, 28359, Germany (Slavnic, S.; Leu, A.; Ristic-Durrant, D.; Graser, A.)
Abstract	Neurological injuries caused by stroke, spinal cord injury or other illnesses and accidents often lead to walking disabilities. If not properly treated, gait disorders can lead to impaired physical and mental health, reduced physical activity, falls, fear of falling, loss of independence and the need for continuous medical care. After an accident or the start of an illness it is important to start the patient's gait rehabilitation process as soon as mental and physical conditions allow. Robotized rehabilitation systems have a number of potential benefits over traditional manual rehabilitation. These benefits include an increase in the effectiveness of the rehabilitation process, reduced costs of rehabilitation and reduced need for trained medical personnel. This paper presents details of the development of the concept of a mobile gait rehabilitation system consisting of a mobile base and powered exoskeleton. In particular, modeling and simulation of its mechanical system are considered. The presented simulation results demonstrate the need for including actuated translational degrees of freedom between the support platform and the exoskeleton to allow displacement of patient's pelvis and practice of dynamically balanced walking.
Starting Page	6022
Ending Page	6027
File Size	1131765
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649133
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Joints Solid modeling Exoskeletons Mobile communication Biological system modeling Mathematical model
Content Type	Text
Resource Type	Article

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
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