Active Leg Exoskeleton (ALEX) for gait rehabilitation of motor-impaired patients

被引：225

作者：

Banala, Sai K. ^{[1
]}

Agrawal, Suni K. ^{[1
]}

Scholz, John P. ^{[2
]}

机构：

[1] Univ Delaware, Mech Syst Lab, Dept Mech Engn, Newark, DE 19716 USA

[2] Univ Delaware, Dept Phys Therapy, Newark, DE 19716 USA

来源：

2007 IEEE 10TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2 | 2007年

关键词：

D O I：

10.1109/ICORR.2007.4428456

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper describes the design and human machine interface of an Active Leg EXoskeleton (ALEX) for gait rehabilitation of patients with walking disabilities. The paper proposes force-field controller which can apply suitable forces on the leg to help it move on a desired trajectory. The interaction forces between the subject and the orthosis are designed to be 'assist-as-needed' for safe and effective gait training. Simulations and experimental results with the force-field controller are presented. Experiments have been performed with healthy subjects walking on a treadmill. It was shown that a healthy subject could be retrained in about 45 minutes with ALEX to walk on a treadmill with a significantly altered gait. In the coming months, this powered orthosis will be used for gait training of stroke patients.

引用

页码：401 / +

页数：3

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