On the potential field-based control of the MIT-skywalker

Panagiotis K. Artemiadis, Hermano Igo Krebs

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

4 Scopus citations

Abstract

Walking impairments are a common sequela of neurological injury, severely affecting the quality of life of both adults and children. Gait therapy is the traditional approach to ameliorate the problem by re-training the nervous system and there have been some attempts to mechanize such approach. We have recently presented the MIT-Skywalker; a novel device to deliver gait therapy, which, in contrast to previous approaches, takes advantage of the concept of passive walkers and the natural dynamics of the lower extremity in order to deliver more "ecological" therapy. In this paper we present a control scheme for the MIT-Skywalker, which is based on an artificial potential field applied at the foot workspace. It is used to improve sensory feedback to the patient, as well as to increase to normal the range of motion of the paretic leg. Simulation results prove the efficiency of the proposed controller.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages1427-1432
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

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

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

ASJC Scopus subject areas

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

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    Artemiadis, P. K., & Krebs, H. I. (2011). On the potential field-based control of the MIT-skywalker. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 1427-1432). [5980063] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980063