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Title

Design and control of a robotic exoskeleton form gait rehabilitation

AuthorsBortole, Magdo
AdvisorPons, José L.; Moreno, Luis E.
KeywordsExoskeleton
Robotic Rehabilitation
Gaits
Control
Strokes
Spinal Cord Injury
Issue Date26-Sep-2013
PublisherUniversidad Carlos III de Madrid
AbstractExoskeletons are becoming a very powerful tool to help therapists in the rehabilitation of patients who have suffered from neurological conditions, in particular stroke or spinal cord injury. This work presents a robotic exoskeleton designed to assist overground gait training for patients with deficits in gait coordination. The device is a bilateral exoskeleton with six degrees of freedom. It is designed to implement different control strategies. An adaptive trajectory control has been developed to guide the patient’s limb within a desired path, allowing a deviation based on torque of interaction between the user and the exoskeleton. An admittance control strategy allows the robotic platform to capture the user’s movements during assistive training and to replicate them during active training. Experimental results show that the exoskeleton can adapt a pre-recorded gait pattern to the gait pattern of a specific user. Future investigations will evaluate the device in the rehabilitation of patients who have suffered from stroke. A comparative analysis of the effectiveness of different robotic therapies will be proposed.
DescriptionTesis de Máster escrita para la obtención del Título de Grado en el Official Master in Robotics and Automation. Universidad Carlos III de Madrid. xxiii, 71 p. : il., diagr.
Fecha de defensa de la tesis de máster: septiembre del 2013.
URIhttp://hdl.handle.net/10261/82894
Appears in Collections:(CAR) Tesis
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