An assistive robotic device that can synchronize to the pelvic motion during human gait training

  title={An assistive robotic device that can synchronize to the pelvic motion during human gait training},
  author={Daisuke Aoyagi and W.E. Ichinose and Susan J. Harkema and David J. Reinkensmeyer and James E. Bobrow},
  journal={9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.},
  • D. Aoyagi, W. Ichinose, J. Bobrow
  • Published 29 August 2005
  • Engineering
  • 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.
We are developing a robotic device, PAM (pelvic assist manipulator), that assists the pelvic motion during human gait training on a treadmill. PAM allows naturalistic motion of pelvis actuated by six pneumatic cylinders, which, combined with a nonlinear force-tracking controller, provide backdrivability and large force output at a relatively low cost. PAM can act as a teach-and-replay device with a PD position controller driving the pelvis onto the reference trajectory specified with or without… 

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