Paper Info
Title
Admittance control based robotic clinical gait training with physiological cost evaluation
Abstract
In this paper, we investigate an effective control strategy for a cane-type assistive mobile robot toward clinical gait training. Assistive robots are expected to provide aid in order to reduce the burden of caregivers and physical therapists, e.g., in gait rehabilitation of elderly people. Our group has been developing a series of cane-type walking assistive robots named Intelligent Cane as a mobile hand-holding device based on admittance control to provide safe and efficient gait training. This paper explores a systematic design methodology of the admittance control model in order to provide suitable walking load during gait training. We first conduct a pilot experiment to investigate the relationship between the physiological cost of user’s walking and the coefficients in the admittance control model of the cane robot. Then, we present a clinical gait training study conducted in a hospital to evaluate the feasibility in practical use of the proposed control strategy of our cane robot in gait rehabilitation. These experimental results suggest the effectiveness of the proposed gait rehabilitation strategy with our robot.
Year
DOI
Venue
2020
10.1016/j.robot.2019.103326
Robotics and Autonomous Systems
Keywords
Field
DocType
Rehabilitation robotics,Human–robot interaction,Assistive robots,Gait analysis
Rehabilitation,Gait training,Gait,Computer science,Simulation,Cost evaluation,Design methods,Physical medicine and rehabilitation,Robot,Admittance,Mobile robot
Journal
Volume
ISSN
Citations 
123
0921-8890
1
PageRank 
References 
Authors
0.35
0
6
Name
Order
Citations
PageRank
Shunki Itadera121.71
Jun Nakanishi210.35
Yasuhisa Hasegawa345694.62
Toshio Fukuda42723818.58
Masanori Tanimoto541.12
Izumi Kondo641.46