Control System of the Lower Limb Rehabilitation Robot

  • Andrzej Michnik
  • Jacek Brandt
  • Zbigniew Szczurek
  • Michał Bachorz
  • Zbigniew Paszenda
  • Robert Michnik
  • Jacek Jurkojć
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7339)

Abstract

A reduced mobility resulting from diseases or injuries frequently leads to elimination of the patient from active life and makes it impossible for them to continue employment. The rehabilitation exercises aimed at improving motor skills usually involves the arduous repetition of the same necessary exercises with the active participation of an experienced physical therapist. The aim of this paper was to present the control system of a rehabilitation robot that will allow us to reduce the physical therapist participation and will limit their physical effort, at the same time allowing them to better assess the progress of physical therapy delivered. The assessment of the adopted assumptions was performed using a prototype robot-the LEG-100 lower extremity exoskeleton whose control system was based on the assumptions presented in this paper.

Keywords

Force Sensor Permanent Magnet Synchronous Motor System Node Rehabilitation Exercise Power Transistor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Andrzej Michnik
    • 1
  • Jacek Brandt
    • 1
  • Zbigniew Szczurek
    • 1
  • Michał Bachorz
    • 1
  • Zbigniew Paszenda
    • 2
  • Robert Michnik
    • 3
  • Jacek Jurkojć
    • 3
  1. 1.Institute of Medical Technology and Equipment ITAMZabrzePoland
  2. 2.Faculty of Biomedical Engineering, Department of Biomaterials and Medical EngineeringSilesian University of TechnologyGliwicePoland
  3. 3.Faculty of Biomedical Engineering Department of BiomechatronicsSilesian University of TechnologyGliwicePoland

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