NDLI: Dynamics of the mobile robotic balance trainer: Study of the pentagonal closed chain properties in relation with balance tasks

Content Provider	IEEE Xplore Digital Library
Author	Tiseo, C. Cheng Yap Shee Wei Tech Ang
Copyright Year	2015
Description	Author affiliation: Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore, Singapore (Tiseo, C.; Cheng Yap Shee; Wei Tech Ang)
Abstract	Balance and gait rehabilitation are the lesser progressed fields in robot aided rehabilitation, mostly due to the complexity of the involved tasks. One of the main problems is the impossibility for most patients to autonomously practice balance and gait rehabilitation safely, especially in the early fundamental stage of recovery. A solution to this limitation of the therapies is to realize a robotic device able to independently support the patient and guarantee the patient's safety during Activities of Daily Living (ADLs) without interfering with the patient's motion when support is not needed. In this paper, we propose the design of a pentagonal closed chain theoretically proven to overcome the limitation of the current technologies, which is not able to transparently follow and support the patient during the initialization of gait. The results obtained showed not only that the proposed pentagonal closed chain is able to be transparent to the patient during the initialization of the gait task, but also presents passive dynamical properties that help to support the patient during trajectories which lead him close to his margins of stability.
Starting Page	753
Ending Page	757
File Size	291150
Page Count	5
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281292
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Force Medical treatment Rehabilitation and assistive robotics Human-machine interaction Trajectory Locomotion and manipulation assistance Joints Immune system
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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