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Handling Disturbances on Planned Trajectories in Robotic Rehabilitation Therapies

  • V. Rajasekaran
  • J. Aranda
  • A. Casals
Conference paper
  • 122 Downloads
Part of the IFMBE Proceedings book series (IFMBE, volume 41)

Abstract

Robotic rehabilitation therapies are an emerging tool in the field of Neurorehabilitation in order to achieve an effective therapeutic development in the patient. In this paper, the role of disturbances caused by muscle synergies or unpredictable effects of artificial stimulation in muscles during rehabilitation therapies is analyzed. In terms of gait assistance it is also important to maintain synchronized movements to ensure a dynamically stable gait. Although, disturbances affecting joints are corrected by a force control approach, we define two methods to ensure stability and synchronization of joint movements in the trajectory to be followed. The performance of the presented methods is evaluated in comparison with a preplanned trajectory to be followed by the patients.

Keywords

Exoskeleton force control gait assistance neurorobot trajectory planning 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • V. Rajasekaran
    • 1
  • J. Aranda
    • 1
    • 2
  • A. Casals
    • 1
    • 2
  1. 1.Institute for Bioengineering of CataloniaBarcelonaSpain
  2. 2.Barcelona-TechTechnical University of CataloniaBarcelonaSpain

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