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Design of robotic gait rehabilitation by optimal motion of the hip
Design of robotic gait rehabilitation by optimal motion of the hip
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机译:通过髋关节最佳运动设计机器人步态康复
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摘要
A method and a robotic device for locomotion training. The method involves shifting a subject's pelvis without directly contacting the subject's leg, thereby causing the subject's legs to move along a moveable surface. The device comprises two backdriveable robots, each having three pneumatic cylinders that connect to each other at their rod ends for attachment to the subject's torso. Also provided is a method of determining a locomotion training strategy for a pelvic-shifting robot by incorporating dynamic motion optimization.
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