Preliminary experiments with an omnidirectional mobile robot for gait rehabilitation
by Aliasgar Morbi; Mojtaba Ahmadi; Avi Nativ
International Journal of Mechatronics and Automation (IJMA), Vol. 3, No. 4, 2013

Abstract: This paper describes GaitEnable, an actuated mobile gait trainer that imposes minimal motion constraints and that facilitates safe overground gait and balance training. GaitEnable is composed of a powered omnidirectional mobile base, a passive body weight support system, and a reactive control system that regulates the interaction between the user and the device. GaitEnable's actuated mobile moves cooperatively with the user in any direction, and provides the force and motion cues necessary to initiate, sustain, and stabilise a user's gait. Data from preliminary experiments performed by a healthy subject demonstrate that GaitEnable is capable of perturbing and assisting a user's gait in a controlled manner and that its omnidirectional mobile base reduces pelvis and torso motion constraints. The results also demonstrate that GaitEnable can easily be programmed to simulate different types of behaviours and motion constraints.

Online publication date: Wed, 18-Dec-2013

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com