Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training

Takao Watanabe, Tatsuya Tono, Yasutaka Nakashima, Kazuya Kawamura, Jim Inoue, Yoshifumi Kijima, Yuki Toyonaga, Tadahiko Yuji, Yuji Higashi, Toshiro Fujimoto, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    Robotic gait training has been introduced recently in rehabilitation, and the related researches have been conducted to propose more effective mechanism and control. To automate gait training, position control with reference trajectory has been adopted in many researches. However, there remain problems such as enhancing self-dominated gait or adapting to asymmetry or individual difference to apply robotic gait training to moderately affected hemiplegia patient. To solve this problem, we quantified the manual pelvic assistance (handling) provided by physical therapy, which can enhance patient's self dominated gait individually. In this paper, the physical model of handling was proposed based on the measurement and verified by multiple regression analysis.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2663-2668
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe
    Duration: 2013 May 62013 May 10

    Other

    Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    CityKarlsruhe
    Period13/5/613/5/10

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    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Watanabe, T., Tono, T., Nakashima, Y., Kawamura, K., Inoue, J., Kijima, Y., Toyonaga, Y., Yuji, T., Higashi, Y., Fujimoto, T., & Fujie, M. G. (2013). Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2663-2668). [6630943] https://doi.org/10.1109/ICRA.2013.6630943