Riener
Fakultäten » Medizinische Fakultät » Universitätsklinik Balgrist und Schweizerisches Paraplegikerzentrum » Paraplegikerzentrum » Prof. Dr. Armin Curt » Riener
Completed research project
| Title / Titel | Implementation and validation of patient-cooperative control strategies for the Lokomat (Implementierung und Validierung kooperativer Regelungsstrategien für den Lokomat) |
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| Abstract (PDF, 14 KB) | |||||
| Summary / Zusammenfassung | During automated gait training with the rehabilitation robot Lokomat, the legs of patients with gait disorders are moved by the robot along a fixed trajectory that corresponds to physiological gait. Advantages of automated training compared to manual training are longer training durations and precise guidance of the legs. The aim of this study is to investigate potential training improvements by applying "cooperative control strategies". These strategies allow the patient to deviate from the reference trajectory. By providing force support, guidance, and by adaptations of control parameters and control structure, the patient can influence step length, speed of walking and/or the walking trajectory. The additional freedom that is provided to the patient by cooperative behaviour of the robot requires additional (visual, auditive and haptic) feedback to the patient. These feedback modalities allow her/him to participate as actively as possible in the training and to make the best use of the robot's cooperativity. An additional aim of this study is therefor the investigation of the effects of these kinds of feedback. Methods: During a training session with the rehabilitation robot Lokomat, different (cooperative and non-cooperative) control strategies are applied to the patient, combined with different feedback modalities. The influence of control strategies and feedback is assessed by measuring movements, forces, muscle activity (surface EMG), and optionally heart rate, oxygen uptake and skin conductance. |
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| Keywords / Suchbegriffe | rehabilitation robotics, cooperative, adaptive | ||||
| Project leadership and contacts / Projektleitung und Kontakte |
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| Funding source(s) / Unterstützt durch |
Private Sector (e.g. Industry), Others Hocoma; US Department of Education NIDRR grant |
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| In collaboration with / In Zusammenarbeit mit |
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| Duration of Project / Projektdauer | Jan 2005 to Dec 2011 |