| 摘要 |
<p>The Over-Ground Robotic Gait Rehabilitation Trainer (OG-RGR Trainer) is a wearable and portable assistive tool for gait rehabilitation and monitoring of people with motor control deficits due to a neurological ailment, such as stroke. OG-RGR Trainer corrects secondary gait deviations by applying a corrective torque around the pelvis, commanded by an impedance controller. In addition, when featuring actuated knee flexion/extension, OG-RGR Trainer reinforces a desired gait pattern by continually applying a corrective torque around the knee joint, commanded by an impedance controller. A sensorized yet unactuated brace worn on the unimpaired leg is used to synchronize the playback of the desired trajectory based on the user's intent. The device is mechanically grounded through two ankle foot orthoses (AFOs) rigidly attached to the main structure, which helps reduce the weight perceived by the user.</p> |
