ID 56180
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Author
Jung, Chanyul Department of Mechanical Engineering, Korea University
Jung, Suhun Department of Mechanical Engineering, Korea University
Chun, Min Ho Department of Physical Medicine and Rehabilitation, Asan Medical Center, College of Medicine, University of Ulsan
Lee, Jong Min Center for Bionics, Korea Institute of Science and Technology
Park, Shinsuk Department of Mechanical Engineering, Korea University
Kim, Seung-Jong Department of Biomedical Engineering, College of Medicine, Korea University
Abstract
Gait rehabilitation training with robotic exoskeleton is drawing attention as a method for more advanced gait rehabilitation training. However, most of the rehabilitation robots are mainly focused on locomotion training in the sagittal plane. This study introduces a novel gait rehabilitation system with actuated pelvic motion to generate natural gait motion. The rehabilitation robot developed in this study, COWALK, is a lower-body exoskeleton system with 15 degrees of freedom (DoFs). The COWALK can generate multi-DoF pelvic movement along with leg movements. To produce natural gait patterns, the actuation of pelvic movement is essential. In the COWALK, the pelvic movement mechanism is designed to help hemiplegic patients regain gait balance during gait training. To verify the effectiveness of the developed system, the gait patterns with and without pelvic movement were compared to the normal gait on a treadmill. The experimental results show that the active control of pelvic movement combined with the active control of leg movement can make the gait pattern much more natural.
Keywords
exoskeleton
gait rehabilitation
balance control
pelvic movement
gravity compensation
Amo Type
Original Article
Published Date
2018-08
Publication Title
Acta Medica Okayama
Volume
volume72
Issue
issue4
Publisher
Okayama University Medical School
Start Page
407
End Page
417
ISSN
0386-300X
NCID
AA00508441
Content Type
Journal Article
language
英語
Copyright Holders
CopyrightⒸ 2018 by Okayama University Medical School
File Version
publisher
Refereed
True
PubMed ID