A methodology to control walking speed of robotic gait rehabilitation system using feasibility-guaranteed trajectories

Chan Yul Jung, Junho Choi, Shin Suk Park, Seung-Jong Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents a novel methodology to control walking speed of an exoskeleton for gait rehabilitation of stroke patients using feasibility-guaranteed trajectories. The controller uses interaction forces to estimate the desired walking speed. Instead of allowing each joint to move around a nominal trajectory, which could lead to infeasible gait patterns, the control algorithm proposed in this paper chooses joint trajectories for desired walking speed, which generates feasible gait patterns. With the interaction forces measured during walking, the walking speed intended by the patient is estimated. Then, based on the estimated walking speed, a reference trajectory stored in a database, which is checked if kinematic constraints required for walking are met, is chosen. Since checking feasibility is performed off-line before the training sessions, it is possible to ensure stability of walking without causing any computational time on-line.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5617-5622
Number of pages6
Volume2015-December
ISBN (Print)9781479999941
DOIs
Publication statusPublished - 2015 Dec 11
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 2015 Sep 282015 Oct 2

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period15/9/2815/10/2

Fingerprint

Patient rehabilitation
Robotics
Trajectories
Kinematics
Controllers

Keywords

  • Exoskeletons
  • Force
  • Force measurement
  • Knee
  • Legged locomotion
  • Trajectory

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Jung, C. Y., Choi, J., Park, S. S., & Kim, S-J. (2015). A methodology to control walking speed of robotic gait rehabilitation system using feasibility-guaranteed trajectories. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 5617-5622). [7354174] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354174

A methodology to control walking speed of robotic gait rehabilitation system using feasibility-guaranteed trajectories. / Jung, Chan Yul; Choi, Junho; Park, Shin Suk; Kim, Seung-Jong.

IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 5617-5622 7354174.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jung, CY, Choi, J, Park, SS & Kim, S-J 2015, A methodology to control walking speed of robotic gait rehabilitation system using feasibility-guaranteed trajectories. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7354174, Institute of Electrical and Electronics Engineers Inc., pp. 5617-5622, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 15/9/28. https://doi.org/10.1109/IROS.2015.7354174
Jung CY, Choi J, Park SS, Kim S-J. A methodology to control walking speed of robotic gait rehabilitation system using feasibility-guaranteed trajectories. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December. Institute of Electrical and Electronics Engineers Inc. 2015. p. 5617-5622. 7354174 https://doi.org/10.1109/IROS.2015.7354174
Jung, Chan Yul ; Choi, Junho ; Park, Shin Suk ; Kim, Seung-Jong. / A methodology to control walking speed of robotic gait rehabilitation system using feasibility-guaranteed trajectories. IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. pp. 5617-5622
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