0

Full Content is available to subscribers

Subscribe/Learn More  >

Gait Rehabilitation With an Active Leg Orthosis

[+] Author Affiliations
Sai K. Banala, Sunil K. Agrawal

University of Delaware, Newark, DE

Paper No. DETC2005-85071, pp. 459-465; 7 pages
doi:10.1115/DETC2005-85071
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

In this paper, we discuss the design and control strategies for an active gait rehabilitation device for the lower extrmity. This device uses gravity balancing to reduce the net torque required by the actuators during motion. Two controllers are proposed in this paper. The first uses a robust controller and the second uses a torque assisting control law. Simulations of these controllers are presented in this paper. Experiments are currently being conducted with this orthosis on healthy and stroke subjects.

Copyright © 2005 by ASME
Topics: Orthotics

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In