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Joint Trajectory Generation and Control for Overground Robot-based Gait Rehabilitation System MOPASS

Published: 25 February 2016 Publication History

Abstract

Robotic gait rehabilitation systems have appeared in the last fifteen years as an alternative to traditional physiotherapy, offering tireless and precise performance. This paper presents the design of MOPASS, a robotic system for overground gait rehabilitation. Additionally, it presents the gait trajectory generator for hip and knee motion in sagittal plane that was implemented in the system. This generator creates healthy-like gait patterns based on extrema (or inflexion) points characteristic of each joint curve. Finally, the motion controllers designed for the active joints of MOPASS are presented.

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Cited By

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  • (2018)A review in gait rehabilitation devices and applied control techniquesDisability and Rehabilitation: Assistive Technology10.1080/17483107.2018.144761113:8(819-834)Online publication date: 25-Mar-2018
  • (2016)Overground robot based gait rehabilitation system MOPASS - overview and first results from usability testing2016 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2016.7487563(3756-3763)Online publication date: May-2016
  • (2016)Individualization of Gait Therapy Through Patient-Tailored Trajectory GenerationConverging Clinical and Engineering Research on Neurorehabilitation II10.1007/978-3-319-46669-9_228(1393-1397)Online publication date: 13-Oct-2016

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Published In

cover image ACM Other conferences
AH '16: Proceedings of the 7th Augmented Human International Conference 2016
February 2016
258 pages
ISBN:9781450336802
DOI:10.1145/2875194
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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  • University of Geneva

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 25 February 2016

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Author Tags

  1. "Exoskeletons"
  2. "Gait"
  3. "Rehabilitation"
  4. "Robotics"

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  • Short-paper
  • Research
  • Refereed limited

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AH '16
AH '16: Augmented Human International Conference 2016
February 25 - 27, 2016
Geneva, Switzerland

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AH '16 Paper Acceptance Rate 21 of 138 submissions, 15%;
Overall Acceptance Rate 121 of 306 submissions, 40%

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Cited By

View all
  • (2018)A review in gait rehabilitation devices and applied control techniquesDisability and Rehabilitation: Assistive Technology10.1080/17483107.2018.144761113:8(819-834)Online publication date: 25-Mar-2018
  • (2016)Overground robot based gait rehabilitation system MOPASS - overview and first results from usability testing2016 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2016.7487563(3756-3763)Online publication date: May-2016
  • (2016)Individualization of Gait Therapy Through Patient-Tailored Trajectory GenerationConverging Clinical and Engineering Research on Neurorehabilitation II10.1007/978-3-319-46669-9_228(1393-1397)Online publication date: 13-Oct-2016

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