Alexander Duschau-Wicke

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Gait rehabilitation robots are of increasing importance in neurorehabilitation. Conventional devices are often criticized because they are limited to reproducing predefined movement patterns. Research on patient-cooperative control strategies aims at improving robotic behavior. Robots should support patients only as much as needed and stimulate them to(More)
Manual body weight supported treadmill training and robot-aided treadmill training are frequently used techniques for the gait rehabilitation of individuals after stroke and spinal cord injury. Current evidence suggests that robot-aided gait training may be improved by making robotic behavior more patient-cooperative. In this study, we have investigated the(More)
In the past decade, several arm rehabilitation robots have been developed to assist neurological patients during therapy. Early devices were limited in their number of degrees of freedom and range of motion, whereas newer robots such as the ARMin robot can support the entire arm. Often, these devices are combined with virtual environments to integrate(More)
Zusammenfassung Rehabilitationsroboter unterstützen die Rehabilitation von Patientenmit Bewegungsstörungen aufgrund von Schädigungen des Nervensystems. Neu entwickelte, patientenkooperative Regelungsansätze sollen es diesen Robotern ermöglichen, individuell an die Patienten angepasste, effektivere Trainingseinheiten durchzuführen, als dies bislang möglich(More)
Functional and task-oriented robotic rehabilitation training can be improved by the interaction of the patient with real-world objects. If these objects are not directly coupled to the robot, a synchronization of robot and object is required, comparable to a calibration between the end effector of an industrial robot and a work piece. Such synchronization(More)
MUNDUS is an assistive framework for recovering direct interaction capability of severely motor impaired people based on arm reaching and hand functions. It aims at achieving personalization, modularity and maximization of the user’s direct involvement in assistive systems. To this, MUNDUS exploits any residual control of the end-user and can be adapted to(More)
To enable compliant training modes with a rehabilitation robot, an important prerequisite is that any undesired human-robot interaction forces caused by robot dynamics must be avoided, either by an appropriate mechanical design or by compensating control strategies. Our recently proposed control scheme of "Generalized Elasticities" employs potential fields(More)
The rehabilitation robot Lokomat allows automated treadmill training for patients with neurological gait disorders. The basic position control approach for the robot has been extended to patient-cooperative strategies. These strategies provide more freedom and allow patients to actively influence their training. However, patients are likely to need(More)
Research in multimodal motor learning in sports is highly demanding with respect to the equipment, especially when the same equipment has to be reconfigured for different applications. In our multimodal motion synthesis lab (M<sup>3</sup>-lab) we apply visual, auditory, and haptic displays as well as feedback to enhance human motor learning. The demands on(More)
For haptic devices, compensation of the robot's gravity is a frequent strategy with the aim to reduce interaction forces between robot and human in zero-impedance control. However, a closer look at the composition of these interaction forces may reveal that the net effect of uncompensated gravitational components of the robot actually reduces interaction(More)