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Mobile platform pelvic robot [Elektronski vir]
Olenšek, Andrej ...
After neurological damage muscle activation control can be severely impaired which may impose considerable constraints to human locomotion mechanisms and force the patients to adjust their gait ...accordingly. Rehabilitation robots seem to successfully complement conventional therapist gait assisted rehabilitation they however typically focus on movement of the extremities and rarely handle also the movement of the pelvis or the trunk. We propose a mobile platform pelvic robot that preserves 6 DOF movement of the pelvis and at the same time is capable to deliver adjustable force field or perturbation impulses to subject pelvis during over ground walking. Preliminary testing has shown that stable haptic interaction can be achieved and that the level of performance variability if perturbation impulses are delivered in different directions is low and is comparable to performance variability of normal walking without perturbations.
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