Kinematics of a robotic gait trainer for stroke rehabilitation

Kartik Bharadwaj, Thomas Sugar

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

23 Scopus citations

Abstract

Repetitive task therapy is an effective form of rehabilitation for people suffering from the debilitating injuries of stroke. Robotic physical therapy devices have been developed in the past, many of which may benefit from the use of bi-directional pneumatic actuators. This paper presents the Robotic Gait Trainer, an ankle rehabilitation device structurally based on a tripod mechanism with one fixed link. The device incorporates two double-acting, compliant Spring Over Muscle (SOM) actuators as actuation links. The kinematic model of the tripod structure and analysis of the workspace of the robotic device are discussed. It is shown that the device is capable of moving the foot about the ankle joint in dorsiflexion and plantarflexion as well as inversion and eversion, a feature unique to the lightweight, compact and easily portable device. Results of the analysis prove that the tripod structure generates a Range of Motion that matches the safe anatomical range of the ankle joint during gait.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3492-3497
Number of pages6
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

Keywords

  • Rehabilitation
  • Robotic gait trainer
  • Spring Over Muscle (SOM) actuator
  • Tripod mechanism

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Bharadwaj, K., & Sugar, T. (2006). Kinematics of a robotic gait trainer for stroke rehabilitation. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3492-3497). [1642235] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642235