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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)
BACKGROUND 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(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)
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)
Functional training is becoming the state-of-the-art therapy approach for rehabilitation of individuals after stroke and spinal cord injury. Robot-aided treadmill training reduces personnel effort, especially when treating severely affected patients. Improving rehabilitation robots towards more patient-cooperative behavior may further increase the effects(More)
In the effort to make rehabilitation robots patient-cooperative, two prerequisites have to be met: One is providing the necessary amount of guidance and safety for the patient. Just as important is transparency, i.e. minimum interaction between robot and human when it is not needed. Recently, we suggested the method of Generalized Elasticities, which reduce(More)
The rehabilitation robot LOKOMAT has been developed at the Balgrist University Hospital to automate treadmill training of spinal cord injury and stroke patients. A virtual environment setup was implemented to increase patient's motivation and provide biofeedback, consisting of visual, acoustic and haptic modalities. Based on the knee and hip angles of the(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)
Neurological patients with impaired upper limbs often receive arm therapy to restore or relearn lost motor functions. During the last years robotic devices were developed to assist the patient during the training. In daily life the diversity of movements is large because the human arm has many degrees of freedom and is used as a manipulandum to interact(More)
Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control(More)