TY - GEN
T1 - Robotic rehabilitation device and patient orientation estimation
AU - Homich, Andrew J.
AU - Doerzbacher, Megan A.
AU - Piazza, Stephen J.
AU - Hills, Everett C.
AU - Moore, Jason Z.
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - This paper explores the design of a robotic device for gait rehabilitation and assessment, as well as a method to estimate a patient's orientation within the rehabilitation device. Current rehabilitation methods require the patient to propel the assistive device or offer limited walking distance. Additionally, current devices do not measure the patient's reliance on the assistive device, possibly prolonging the rehabilitation period or even preventing satisfactory function to be regained. A novel robotic parallel bar platform was designed to address the shortfalls of current assistive devices. A complementary filter was developed to estimate the patient's orientation within the device using a magnetometer and gyroscope. Experiments of the complementary filter on a test platform show that the filter provides estimates within five degrees of the true value over a range of angular velocities.
AB - This paper explores the design of a robotic device for gait rehabilitation and assessment, as well as a method to estimate a patient's orientation within the rehabilitation device. Current rehabilitation methods require the patient to propel the assistive device or offer limited walking distance. Additionally, current devices do not measure the patient's reliance on the assistive device, possibly prolonging the rehabilitation period or even preventing satisfactory function to be regained. A novel robotic parallel bar platform was designed to address the shortfalls of current assistive devices. A complementary filter was developed to estimate the patient's orientation within the device using a magnetometer and gyroscope. Experiments of the complementary filter on a test platform show that the filter provides estimates within five degrees of the true value over a range of angular velocities.
UR - http://www.scopus.com/inward/record.url?scp=84926039949&partnerID=8YFLogxK
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U2 - 10.1115/DETC2014-35472
DO - 10.1115/DETC2014-35472
M3 - Conference contribution
AN - SCOPUS:84926039949
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Y2 - 17 August 2014 through 20 August 2014
ER -