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The LegoPress: A Rehabilitation, Performance Assessment and Training Device Mechanical Design and Control

  • Jeremy OlivierEmail author
  • Maxime Jeanneret
  • Mohamed Bouri
  • Hannes Bleuler
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)

Abstract

In this paper we present the LegoPress, a simple and cost-effective robotic device intended to be used for leg-press movements in rehabilitation and training. Basic adjustments can be done on the sitting position so as to maximize comfort and adapt the posture of the user depending on the desired training. The LegoPress has two motorized axes independently acting on the two legs. By means of force sensors positioned at the pedal level, a precise monitoring is possible. The force sensor is as well used to improve the impedance control, which enables to reproduce various behaviors. The device is not only able to mobilize the user’s legs but also to interact with her/him.

Keywords

Rehabilitation Leg press Impedance control 

Notes

Acknowledgments

This research was supported by the National Center of Competences in Research Robotics. We also would like to thank Sylvain Tozzini for his contribution to the mechanical design of the LegoPress.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Jeremy Olivier
    • 1
    Email author
  • Maxime Jeanneret
    • 1
  • Mohamed Bouri
    • 1
  • Hannes Bleuler
    • 1
  1. 1.Laboratory of Robotic Systems (LSRO)Swiss Federal Institute of Technology Lausanne (EPFL)LausanneSwitzerland

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