Design of a network-based mobile gait rehabilitation system

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

doi:10.1109/ROBIO.2012.6491224

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 proceeding › Conference 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 language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	1773-1778
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6491224
State	Published - Dec 1 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: Dec 11 2012 → Dec 14 2012

Publication series

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

Other

Other	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	12/11/12 → 12/14/12

ASJC Scopus subject areas

Artificial Intelligence
Biotechnology

Access to Document

10.1109/ROBIO.2012.6491224

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

Design of a network-based mobile gait rehabilitation system. / Zhang, Wenlong; Zhu, Xiuming; Han, Song et al.

2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 1773-1778 6491224 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhang, W, Zhu, X, Han, S, Byl, N, Mok, AK & 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., 6491224, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 1773-1778, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 12/11/12. https://doi.org/10.1109/ROBIO.2012.6491224

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Design of a network-based mobile gait rehabilitation system

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