학술논문
A System for Gait Rehabilitation with Body Weight Support - Mobile Manipulator Approach
이용수 15
- 영문명
- A System for Gait Rehabilitation with Body Weight Support
- 발행기관
- 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
- 저자명
- Choon-Young Lee Kap-Ho Seo Changmok Oh Ju-Jang Lee
- 간행물 정보
- 『International Journal of Assistive Robotics and Mechatronics』Journal of HWRS-ERC Vol.2 No.3, 16~21쪽, 전체 6쪽
- 주제분류
- 공학 > 제어계측공학
- 파일형태
- 발행일자
- 2001.11.01
국문 초록
영문 초록
A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mobile manipulator used to compensate for dynamic interactions, unmodeled dynamics, and disturbances by the user on the system, is derived and experimental results are shown.
목차
Abstract
Ⅰ. INTRODUCTION
Ⅱ. A GAIT REHABILITATION SYSTEM
Ⅲ. NEURAL NETWORK BASED CONTROL
Ⅳ. EXPERIMENT
Ⅴ. CONCLUSIONS
ACKNOWLEDGMENTS
REFERENCES
Ⅰ. INTRODUCTION
Ⅱ. A GAIT REHABILITATION SYSTEM
Ⅲ. NEURAL NETWORK BASED CONTROL
Ⅳ. EXPERIMENT
Ⅴ. CONCLUSIONS
ACKNOWLEDGMENTS
REFERENCES
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