A six-degree-of-freedom robotic system for lower extremity rehabilitation

Aaron Yurkewich, S. Farokh Atashzar, Ahmed Ayad, Rajni V. Patel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and a wireless interface this device is portable and well-suited for at-home and in-clinic use. A custom six-degree-of-freedom force/torque sensor was developed to measure real-Time patient forces, and an admittance controller was implemented to provide assistive motion therapy. The results obtained show the suitability of this device for human-robot interaction for the implementation of lower extremity rehabilitation therapy.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
Subtitle of host publicationEnabling Technology Festival, ICORR 2015
EditorsDavid Braun, Haoyong Yu, Domenico Campolo
PublisherIEEE Computer Society
Pages810-815
Number of pages6
ISBN (Electronic)9781479918072
DOIs
StatePublished - Sep 28 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: Aug 11 2015Aug 14 2015

Publication series

NameIEEE International Conference on Rehabilitation Robotics
Volume2015-September
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

Conference14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period8/11/158/14/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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  • Cite this

    Yurkewich, A., Atashzar, S. F., Ayad, A., & Patel, R. V. (2015). A six-degree-of-freedom robotic system for lower extremity rehabilitation. In D. Braun, H. Yu, & D. Campolo (Eds.), Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015 (pp. 810-815). [7281302] (IEEE International Conference on Rehabilitation Robotics; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ICORR.2015.7281302