Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing.

ABSTRACT: Background: Interlimb neural coupling implies that arm swing should be included during gait training to improve rehabilitation outcomes. We previously developed several systems for production of walking with arm swing, but the reaction forces on the foot sole during usage of the systems were not satisfactory and there was potential to improve control system performance. This work aimed to design and technically evaluate a novel system for producing walking with synchronised arm and leg movement and with dynamic force loading on the foot soles. Methods: The robotic system included a passive curved treadmill and a trunk frame, upon which the rigs for the upper and lower limbs were mounted. Ten actuators and servocontrollers with EtherCAT communication protocol controlled the bi

SUBMITTER: Fang J 

PROVIDER: S-EPMC9397737 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature