Design of a network-based mobile gait rehabilitation system

Wenlong Zhang, Xiuming Zhu, Song Han, Nancy Byl, Aloysius K. Mok, Masayoshi Tomizuka

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

20 Scopus citations

Abstract

In this paper, a network-based mobile gait rehabilitation system is proposed for improved mobility and tele-rehabilitation. In this system, an Internet-based body sensor network is employed for health monitoring and a local highspeed wireless network is developed to achieve precise control of the gait rehabilitation device, which is a compact rotary elastic actuator (cRSEA). A new wireless protocol called MBStarPlus is proposed to achieve a high sampling rate and real-time communication. To deal with packet loss in the wireless network, a modified linear quadratic Gaussian (LQG) controller is combined with a disturbance observer (DOB) to control the cRSEA over the wireless network. Successful system integration and promising experimental results validate both the system design and proposed control algorithm. The plan for clinical testing with the proposed system is discussed.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages1773-1778
Number of pages6
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
Event2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China
Duration: Dec 11 2012Dec 14 2012

Publication series

Name2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Other

Other2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
CountryChina
CityGuangzhou
Period12/11/1212/14/12

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology

Cite this

Zhang, W., Zhu, X., Han, S., Byl, N., Mok, A. K., & Tomizuka, M. (2012). Design of a network-based mobile gait rehabilitation system. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 1773-1778). [6491224] (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491224