Design of Human-Machine Interface and altering of pelvic obliquity with RGR Trainer.
Design of Human-Machine Interface and altering of pelvic obliquity with RGR Trainer.
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DOI：
10.1109/icorr.2011.5975496
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Bonato P
中科院分区：
文献类型：
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作者：
Pietrusinski M;Unluhisarcikli O;Mavroidis C;Cajigas I;Bonato P
机器人步态康复（RGR）训练器针对脑卒中幸存者在康复过程中的继发性步态偏差。该装置采用阻抗控制策略和线性电磁致动器，通过人机界面（即下体外骨骼）产生一个力场来控制骨盆倾角。本文描述了RGR训练器人机界面（HMI）的设计，并展示了该系统在健康受试者步态过程中改变骨盆运动模式的能力。结果显示了我们在健康受试者中诱导的髋关节运动实验。我们的研究结果表明，RGR训练器具有影响步态时骨盆倾斜的能力。此外，我们提供了初步的证据，证明RGR训练器可以短期保持改良的骨盆倾斜模式。
The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine Interface (HMI) and we demonstrate the system’s ability to alter the pattern of movement of the pelvis during gait in a healthy subject. Results are shown for experiments during which we induced hip-hiking – in healthy subjects. Our findings indicate that the RGR Trainer has the ability of affecting pelvic obliquity during gait. Furthermore, we provide preliminary evidence of short-term retention of the modified pelvic obliquity pattern induced by the RGR Trainer.