Development of gait training system powered by pneumatic actuator like human musculoskeletal system

Shinichirou Yamamoto, Yoshiyuki Shibata, Shingo Imai, Tatsuya Nobutomo, Tasuku Miyoshi

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

6 Citations (Scopus)

Abstract

The purpose of this study was to develop a body weight support gait training system for stroke and spinal cord injury (SCI) patient. This system consists of an orthosis powered by pneumatic McKibben actuators and a piece of equipment of body weight support. The attachment of powered orthosis can be fit to individual subjects with different body size. This powered orthosis is driven by pneumatic McKibben actuators arranged as a pair of agonistic and antagonistic bi-articular muscle models and two pairs of agonistic and antagonistic mono-articular muscle models like the human musculoskeletal system. The body weight support equipment suspends the subject's body in a wire harness, with the body weight is supported continuously by a counterweight. The powered orthosis is attached to the body weight support equipment by a parallel linkage, and its movement of powered orthosis is limited at the sagittal plane. The weight of the powered orthosis is compensated by a parallel linkage with a gas-spring. In this paper, we report the detailed mechanics of this body weight support gait training system and the results of several experiments for evaluating the system.

Original languageEnglish
Title of host publicationIEEE International Conference on Rehabilitation Robotics
DOIs
Publication statusPublished - 2011
EventRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich
Duration: 2011 Jun 272011 Jul 1

Other

OtherRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
CityZurich
Period11/6/2711/7/1

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Keywords

  • Body Weight Support
  • Locomotor Training

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation
  • Medicine(all)

Cite this

Yamamoto, S., Shibata, Y., Imai, S., Nobutomo, T., & Miyoshi, T. (2011). Development of gait training system powered by pneumatic actuator like human musculoskeletal system. In IEEE International Conference on Rehabilitation Robotics [5975452] https://doi.org/10.1109/ICORR.2011.5975452