Paolo Bonato, Rifat Sipahi
Date of Award
Doctor of Philosophy
Department or Academic Unit
College of Engineering, Department of Mechanical and Industrial Engineering
mechanical engineering, robotics, physical therapy, gait, physical, rehabilitation, robotic, stroke, theraphy
Current methods of robotic neurorehabilitation of gait often do not address secondary gait deviations, focusing instead on only the primary gait deviations. Therefore, a robotic system was developed, which guides the pelvis in the frontal plane (pelvic obliquity), in order to address hip-hiking - the most common secondary gait deviation. A prototype of the device was built with a single actuator and impedance control system to generate force field and transfer it to the patient's pelvis via a lower body exoskeleton. The RGR Trainer's ability to alter gait pattern via force fields applied to pelvic obliquity was tested on several healthy subjects. It was found that the RGR Trainer can coax healthy subjects to walk with an altered gait pattern, and signs of retention of this newly learned gait pattern have been observed.
Maciej Dariusz Pietrusinski
Pietrusinski, Maciej Dariusz, "The robotic gait rehabilitation trainer" (2012). Mechanical Engineering Dissertations. Paper 24. http://hdl.handle.net/2047/d20002539
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