Abstract
The aim of this paper is to introduce the paradigms and strategies used in the design of an Automated Locomotion Training using an Actuated Compliant Robotic Orthosis (ALTACRO). We have developed a novel gait rehabilitation robot with 11 actuated degrees of freedom to assists patients’ legs and pelvis to walk on a treadmill. Since current gait rehabilitation robots have not accomplished a clear improvement compared to conventional therapy, a need exists for devices with new characteristics that can enhance robot-assisted rehabilitation therapy.
Gait training robots have evolved noticeable from pure position controlled devices to robots that allows a more natural gait pattern by rendering themselves transparent to the human and acting only when is needed. Systems that induce external dynamics and constraint natural feedback such as passive body weight support systems, may induce unnatural proprioceptive feedback which plays a big role on motor learning. ALTACRO (Figure 1) is an attempt to give a step forward towards the goal of investigate new rehabilitation paradigms by exploiting its novel design. We believe that fueatures like mechanically compliant acuation, active ankle assistance, a controllable threadmill and fully actuated pelvis platform without the need of a body weight support system will allow us to research novel control paradigms that may lead to a more natural, unhindered gait pattern while using the device, a more natural load distribution and the inclusion of more inmersive virtual rehabilitation scenarios.
Gait training robots have evolved noticeable from pure position controlled devices to robots that allows a more natural gait pattern by rendering themselves transparent to the human and acting only when is needed. Systems that induce external dynamics and constraint natural feedback such as passive body weight support systems, may induce unnatural proprioceptive feedback which plays a big role on motor learning. ALTACRO (Figure 1) is an attempt to give a step forward towards the goal of investigate new rehabilitation paradigms by exploiting its novel design. We believe that fueatures like mechanically compliant acuation, active ankle assistance, a controllable threadmill and fully actuated pelvis platform without the need of a body weight support system will allow us to research novel control paradigms that may lead to a more natural, unhindered gait pattern while using the device, a more natural load distribution and the inclusion of more inmersive virtual rehabilitation scenarios.
| Original language | English |
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| Title of host publication | Robot-assisted gait rehabilitation in neurological patients |
| Publication status | Published - 21 May 2015 |
| Event | congress on neurorehabilitation and neural repair - Maastricht, Maastricht, Netherlands Duration: 21 May 2015 → 22 May 2015 |
Conference
| Conference | congress on neurorehabilitation and neural repair |
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| Country | Netherlands |
| City | Maastricht |
| Period | 21/05/15 → 22/05/15 |
Keywords
- rehabilitation robotics
- Human robot interaction