Scheduled System Maintenance:
On Wednesday, July 29th, IEEE Xplore will undergo scheduled maintenance from 7:00-9:00 AM ET (11:00-13:00 UTC). During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

Development of gait rehabilitation robot driven by upper limb motion

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Novandy, C.B. ; Gyeongsang Nat. Univ., Jinju ; Jung-Won Yoon

This paper proposes a new rehabilitation robot for human gait training. As humans change walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. The faster the speed, the higher frequency resulted, while the lower the walking speed, the lower the arm swing rate frequency is. By analyzing both properties, we can find the relation between arm swing and lower limb motion. This rehabilitation robot is being developed by applying the concept that the lower limb motion is generated by the arm swing. The lower limb part consists of a slider mechanism and a 3 DOF footpad. This mechanism allows walking in a virtual environment with uneven and various terrains, so that can improve the versatility of rehabilitation training. The upper limb consists of arm swing handle as user input. The analog handgrip on the each side of the handle is provided for the patients who cannot swing both of the arms due to illnesses or weaknesses. For haptic sense, the force sensor is located on the top of the footpad to measure the human foot intention, and the feedback motor is located between the arm handle. At the final stage of development, virtual reality environment is proposed.

Published in:

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Date of Conference:

17-20 Oct. 2007