TY - JOUR
T1 - Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation
AU - Veneman, Jan F.
AU - Kruidhof, Rik
AU - Hekman, Edsko E.G.
AU - Ekkelenkamp, Ralf
AU - Van Asseldonk, Edwin H.F.
AU - Van Der Kooij, Herman
PY - 2007/9
Y1 - 2007/9
N2 - This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "patient-in- charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.
AB - This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "patient-in- charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.
KW - Body-weight supported treadmill training
KW - Exoskeleton robot
KW - Gait training device
UR - https://www.scopus.com/pages/publications/34648837871
U2 - 10.1109/TNSRE.2007.903919
DO - 10.1109/TNSRE.2007.903919
M3 - Article
C2 - 17894270
AN - SCOPUS:34648837871
SN - 1534-4320
VL - 15
SP - 379
EP - 386
JO - IEEE Transactions on Neural Systems and Rehabilitation Engineering
JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering
IS - 3
ER -