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Robotic Rehabilitation Device and Patient Orientation Estimation

[+] Author Affiliations
Andrew J. Homich, Megan A. Doerzbacher, Stephen J. Piazza, Jason Z. Moore

Pennsylvania State University, University Park, PA

Everett C. Hills

Pennsylvania State University, Hummelstown, PA

Paper No. DETC2014-35472, pp. V05AT08A022; 6 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


This paper explores the design of a robotic device for gait rehabilitation and assessment, as well as a method to estimate a patient’s orientation within the rehabilitation device. Current rehabilitation methods require the patient to propel the assistive device or offer limited walking distance. Additionally, current devices do not measure the patient’s reliance on the assistive device, possibly prolonging the rehabilitation period or even preventing satisfactory function to be regained. A novel robotic parallel bar platform was designed to address the shortfalls of current assistive devices. A complementary filter was developed to estimate the patient’s orientation within the device using a magnetometer and gyroscope. Experiments of the complementary filter on a test platform show that the filter provides estimates within five degrees of the true value over a range of angular velocities.

Copyright © 2014 by ASME



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