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Control Strategies for Gait Tele-Rehabilitation System Based on Parallel Robotics
- Source :
- Applied Sciences, Vol 11, Iss 11095, p 11095 (2021), Applied Sciences; Volume 11; Issue 23; Pages: 11095
- Publication Year :
- 2021
- Publisher :
- MDPI AG, 2021.
-
Abstract
- Among end-effector robots for lower limb rehabilitation, systems based on Stewart–Gough platforms enable independent movement of each foot in six degrees of freedom. Nevertheless, control strategies described in recent literature have not been able to fully explore the potential of such a mechatronic system. In this work, we propose two novel approaches for controlling a gait simulator based on Stewart–Gough platforms. The first strategy provides the therapist direct control of each platform using movement data measured by wearable sensors. The following scheme is designed to improve the level of engagement of the patient by enabling a limited degree of control based on trunk inclination. Both strategies are designed to facilitate future studies in tele-rehabilitation settings. Experimental results have illustrated the feasibility of both control interfaces, either in terms of system performance or user subjective evaluation. Technical capacity to deploy in tele-rehabilitation was also verified in this work.
- Subjects :
- Scheme (programming language)
Technology
QH301-705.5
Computer science
QC1-999
tele-rehabilitation
Control (management)
Wearable computer
Gait (human)
Human–computer interaction
Stewart–Gough platforms
Six degrees of freedom
General Materials Science
Biology (General)
QD1-999
Instrumentation
computer.programming_language
Fluid Flow and Transfer Processes
Physics
Process Chemistry and Technology
Work (physics)
General Engineering
Mechatronics
Engineering (General). Civil engineering (General)
gait simulator
inertial sensing
Computer Science Applications
Chemistry
Robot
TA1-2040
computer
Subjects
Details
- ISSN :
- 20763417
- Volume :
- 11
- Database :
- OpenAIRE
- Journal :
- Applied Sciences
- Accession number :
- edsair.doi.dedup.....011362740b40a456a2c3c05c4f687c17