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Vol. 138, No. 3, March 2012, pp. 132-140




Study on Speed Adaptation Control for a Gait Rehabilitation Training Robot


1, 2 Yongjiu LIU, 1, 2 Buyun WANG, 1, 2 Guangbin ZHANG, 2 Tingting MA, 2 Feng SHUANG and 2* Quanjun SONG

1 Department of Automation, University of Science & Technology of China, Hefei 230027, China

2 Institute of Intelligent Machines Chinese Academy of Sciences, Hefei 230031, China

*E-mail: qjsong@iim.ac.cn



Received: 12 January 2012   /Accepted: 20 March 2012   /Published: 31 March 2012

Digital Sensors and Sensor Sysstems


Abstract: Gait rehabilitation training robot is a robotic application in the medical field, and its main function is to help patients with lower limb locomotion dysfunctions complete the necessary trainings and regain some of their prior functional abilities. Current rehabilitation robots usually lack the ability to take the patientís movement intention into account. This paper mainly focuses on a method which can detect the patientís acceleration and deceleration movement intention and adapt the speed of the robotic gait simulator to the patientís intention intuitively based on a force measurement principle. A BP neural network based on the Levenberg-Marquardt (L-M) algorithm was used to establish the mapping relationship between the pressure information and the movement intention of the patient. Meanwhile, several experiments were carried out to test the feasibility and effectiveness of this method. The experiments show this method can achieve the self-determined gait speed adaptation performed by the patient.


Keywords: Gait rehabilitation, Movement intention, Neural network.



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