Development of Gait Rehabilitation System Capable of Assisting Pelvic Movement of Normal Walking
- Authors
- Jung, Chanyul; Jung, Suhun; Chun, Min Ho; Lee, Jong Min; Park, Shinsuk; Kim, Seung-Jong
- Issue Date
- 8월-2018
- Publisher
- OKAYAMA UNIV MED SCHOOL
- Keywords
- exoskeleton; gait rehabilitation; balance control; pelvic movement; gravity compensation
- Citation
- ACTA MEDICA OKAYAMA, v.72, no.4, pp.407 - 417
- Indexed
- SCIE
SCOPUS
- Journal Title
- ACTA MEDICA OKAYAMA
- Volume
- 72
- Number
- 4
- Start Page
- 407
- End Page
- 417
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/73849
- ISSN
- 0386-300X
- Abstract
- Gait rehabilitation training with robotic exoskeleton is drawing attention as a method for more advanced gait rehabilitation training. However, most of the rehabilitation robots are mainly focused on locomotion training in the sagittal plane. This study introduces a novel gait rehabilitation system with actuated pelvic motion to generate natural gait motion. The rehabilitation robot developed in this study, COWALK, is a lower-body exoskeleton system with 15 degrees of freedom (DoFs). The COWALK can generate multi-DoF pelvic movement along with leg movements. To produce natural gait patterns, the actuation of pelvic movement is essential. In the COWALK, the pelvic movement mechanism is designed to help hemiplegic patients regain gait balance during gait training. To verify the effectiveness of the developed system, the gait patterns with and without pelvic movement were compared to the normal gait on a treadmill. The experimental results show that the active control of pelvic movement combined with the active control of leg movement can make the gait pattern much more natural.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
- College of Medicine > Department of Medical Science > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.