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Rehabilitation Exoskeleton Design: Exploring the Effect of the Anterior Lunge Degree of Freedom

Stegall, Paul, Winfree, Kyle, Zanotto, Damiano and Agrawal, Sunil Kumar (2013) Rehabilitation Exoskeleton Design: Exploring the Effect of the Anterior Lunge Degree of Freedom. IEEE TRANSACTIONS ON ROBOTICS, 29 (4). pp. 838-846. [Journal article]

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DOI: 10.1109/TRO.2013.2256309


As our robotics community advances its understandingtoward the optimal design of robotic exoskeletons for humangait training, the question we ask in this paper is how the anteriorlunge degree of freedom in the robotic exoskeleton affects humangait training. Answering this question requires both novel roboticdesign and novel protocols for human gait training to characterizethis effect. To the best of the authors’ knowledge, this is the firststudy to characterize the effect of an exoskeleton’s degrees of freedomon human gait adaptation.We explored this question using theActive Leg EXoskeleton (ALEX) II. The study presented was performedusing ALEX II under the following two configurations: 1)locking the anterior/posterior translation in the exoskeleton, whileallowing other degrees-of-freedom (labeled as locked mode) and2) keeping the anterior/posterior degree of freedom unlocked (labeledas unlocked mode). Healthy subjects walked at self-selectedspeeds on a treadmill and were trained to walk with a new gait template,scaled down from their normal template. While both groupsshowed adaptation and retention over a 26-min period followingtraining, the unlocked group showed better performance in termsof adaptation and retention compared with the locked group.

Item Type:Journal article
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute > Intelligent Systems Research Centre
Computer Science Research Institute
ID Code:27736
Deposited By: Ms Anne McMullan
Deposited On:04 Nov 2013 09:15
Last Modified:04 Nov 2013 09:15

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