JaLCDOI 10.18926/AMO/56180
フルテキストURL 72_4_407.pdf
著者 Jung, Chanyul| Jung, Suhun| Chun, Min Ho| Lee, Jong Min| Park, Shinsuk| Kim, Seung-Jong|
抄録 Gait rehabilitation training with robotic exoskeleton is drawing attention as a method for more advanced gait rehabilitation training. However, most of the rehabilitation robots are mainly focused on locomotion training in the sagittal plane. This study introduces a novel gait rehabilitation system with actuated pelvic motion to generate natural gait motion. The rehabilitation robot developed in this study, COWALK, is a lower-body exoskeleton system with 15 degrees of freedom (DoFs). The COWALK can generate multi-DoF pelvic movement along with leg movements. To produce natural gait patterns, the actuation of pelvic movement is essential. In the COWALK, the pelvic movement mechanism is designed to help hemiplegic patients regain gait balance during gait training. To verify the effectiveness of the developed system, the gait patterns with and without pelvic movement were compared to the normal gait on a treadmill. The experimental results show that the active control of pelvic movement combined with the active control of leg movement can make the gait pattern much more natural.
キーワード exoskeleton gait rehabilitation balance control pelvic movement gravity compensation
Amo Type Original Article
発行日 2018-08
出版物タイトル Acta Medica Okayama
72巻
4号
出版者 Okayama University Medical School
開始ページ 407
終了ページ 417
ISSN 0386-300X
NCID AA00508441
資料タイプ 学術雑誌論文
言語 English
著作権者 CopyrightⒸ 2018 by Okayama University Medical School
論文のバージョン publisher
査読 有り
PubMed ID 30140090