Robotic orthosis Lokomat: A rehabilitation and research tool
Robotic orthosis Lokomat: A rehabilitation and research tool
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DOI：
10.1046/j.1525-1403.2003.03017.x
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发表时间：
2003-04-01
期刊：
影响因子：
2.8
通讯作者：
Morari, M
中科院分区：
文献类型：
--
作者：
Jezernik, S;Colombo, G;Morari, M
本文的目的是向功能性电刺激(FES)和神经调节研究界介绍机器人矫形器Lokomat，并报告我们最近进行的研究。Lokomat是为脊髓损伤和中风患者的运动康复跑步机训练自动化而开发的。我们首先说明了Lokomat在康复中的主要用途，并重点介绍了与机器人运动康复相关的控制方面和算法。然后，我们描述了Lokomat被用作研究工具的两个应用。第一个应用是对FeS诱导的小腿运动进行闭环控制，第二个应用是建立脊柱运动中心的神经网络模型。该模型被用于推导Lokomat的神经运动控制器。
The aim of this article is to introduce the robotic orthosis Lokomat, developed to automate treadmill training rehabilitation of locomotion for spinal cord injured and stroke patients, to the Functional Electrical Stimulation (FES) and Neuromodulation research communities, and to report on our newly conducted research. We first illustrate the primary use of Lokomat in rehabilitation and focus on control aspects and algorithms associated with robotic rehabilitation of locomotion. Then we describe two applications where the Lokomat was used as a research tool. The first application is closed-loop control of the FES-induced shank movement and the second is the development of a neural network model of the spinal locomotor centers. This model was used to derive a neural locomotion controller for the Lokomat.