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A haptic control framework for end-effector based gait simulation interfaces and its application in patient-adaptive rehabilitation training.

English · Paperback / Softback

Description

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The use of robots to assist therapy of neurological motor disfunctions, such as limited mobility, is an emerging research field.
This book provides the first systematic application of a haptic control framework and assist as needed training paradigms to so called end-effector based gait simulation interfaces with a natural walking workspace, which fully carry the operator's bodyweight.
The developed haptic control framework provides a unified controller architecture and a design method based on robust adaptive control. Thus it allows for the stable interaction with virtual training environments. The modular virtual environments combine a walking scenario with an adjustable assistance along the desired training motion.
The framework is the basis to develop and implement compliant and patient-adaptive training strategies and, more generally speaking, haptic interaction on end-effector based gait interfaces.
The prototype was successfully implemented and tested on the walking simulator HapticWalker.

Product details

Authors Sami Hussein
Assisted by Berlin Fraunhofer IPK (Editor), Jörg Krüger (Editor)
Publisher Fraunhofer Verlag
 
Languages English
Product format Paperback / Softback
Released 01.01.2012
 
EAN 9783839604649
ISBN 978-3-8396-0464-9
No. of pages 144
Illustrations num. illus. and tab.
Series Berichte aus dem Produktionstechnischen Zentrum Berlin
Subject Natural sciences, medicine, IT, technology > Technology > Mechanical engineering, production engineering

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