Control Concept for a Mobile Robot Assisted Gait Rehabilitation System
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Beschreibung
Robotized gait rehabilitation systems are complex electromechanical-systems that are used to restore or improve gait pattern of patients through the number of rehabilitation iterations. These systems can be of different level of complexity, depending on the target group of patients. The complexity relates to: numbers of degrees of freedom, number of sensors and actuators, complexity of the mechanical structure, complexity of control algorithms and level of automation of the system. Systems with commercialization potential are usually simpler in design so that they are of moderate complexity. These systems are usually aimed for specific groups of patients. Moderate complexity of the system positively influences safety aspects of the system, reduces costs of development, acquisition and maintenance and improves system usability. The rehabilitation systems that could potentially cover larger groups of patients and that are nearly fully automatized tend to be very complex. Such systems are still under research and development and commercialization of such systems is a long-term goal.
The aim of this Thesis is to develop and implement methods to model, identify and control complex gait rehabilitation robotic systems that are in direct physical contact with humans. The work presented was done in the frameworks of two projects, the RoboWalker and the CORBYS project in which a feasibility concept and a concept and a physical system are developed, respectively. An approach in modelling of robotic system and human robot-interaction, an approach in modelling, identification and control of a novel push-pull cable actuated mobile rehabilitation system and an approach in robot software architecture decomposition and definition are described and results are presented.
Autor*in
Siniša Slavnić
Themen in »Control Concept for a Mobile Robot Assisted Gait Rehabilitation System«
Rehabilitation robotics Robot control Robotics