On the control of the MIT-Skywalker
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Artemiadis-2010-On the control of th.pdf
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Author(s)
Artemiadis, Panagiotis
Krebs, Hermano Igo
Date Issued
August 2010
Journal
IEEE Engineering in Medicine and Biology Society. Conference (32nd : 2010 : Buenos Aires, Argentina) EMBC
Publisher
Institute of Electrical and Electronics Engineers
Citation
Artemiadis, P.K., and H.I. Krebs. “On the Control of the MIT-Skywalker.” Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE. 2010. 1287-1291. Copyright © 2010, IEEE
Version
Final published version
Abstract
Walking impairments are a common sequela of
neurological injury, severely affecting the quality of life of both
adults and children. Gait therapy is the traditional approach to
ameliorate the problem by re-training the nervous system and
there have been some attempts to mechanize such approach. In
this paper, we present a novel device to deliver gait therapy,
which, in contrast to previous approaches, takes advantage of
the concept of passive walkers and the natural dynamics of the
lower extremity in order to deliver more “ecological” therapy.
We also discuss the closed-loop control scheme, which enables
safe and efficient operation of the device, and present the initial
feasibility tests with unimpaired subjects.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1109/iembs.2010.5626407
