Robotic rehabilitation device and patient orientation estimation

Andrew J. Homich, Megan A. Doerzbacher, Stephen J. Piazza, Everett C. Hills, Jason Z. Moore

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

Abstract

This paper explores the design of a robotic device for gait rehabilitation and assessment, as well as a method to estimate a patient's orientation within the rehabilitation device. Current rehabilitation methods require the patient to propel the assistive device or offer limited walking distance. Additionally, current devices do not measure the patient's reliance on the assistive device, possibly prolonging the rehabilitation period or even preventing satisfactory function to be regained. A novel robotic parallel bar platform was designed to address the shortfalls of current assistive devices. A complementary filter was developed to estimate the patient's orientation within the device using a magnetometer and gyroscope. Experiments of the complementary filter on a test platform show that the filter provides estimates within five degrees of the true value over a range of angular velocities.

Original languageEnglish (US)
Title of host publication38th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791846360
DOIs
StatePublished - Jan 1 2014
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: Aug 17 2014Aug 20 2014

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A

Other

OtherASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
CountryUnited States
CityBuffalo
Period8/17/148/20/14

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All Science Journal Classification (ASJC) codes

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Homich, A. J., Doerzbacher, M. A., Piazza, S. J., Hills, E. C., & Moore, J. Z. (2014). Robotic rehabilitation device and patient orientation estimation. In 38th Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2014-35472