An intrinsically compliant robotic orthosis was developed to provide customized robot assisted gait training for the neurorehabilitaion of stroke and spinal cord injured (SCI) subjects. The robotic orthosis is powered by pneumatic muscle actuators (PMA). A control scheme was developed that can guide the subject’s limbs on reference trajectories as well as can provide variable compliance. The control scheme was evaluated on a neurologically intact subject and the results show that the control scheme can deliver its intended effect.
|Title of host publication||Converging Clinical and Engineering Research on Neurorehabilitation|
|Editors||Jose L. Pons, Diego Torricelli, Marta Pajaro|
|Place of Publication||Berlin, Heidelberg, Germany|
|Number of pages||5|
|Publication status||Published - 1 Jan 2013|
|Name||Biosystems and Biorobotics|