Human-Robot interaction strategy for overground rehabilitation in patients with Cerebral Palsy

Carlos A. Cifuentes, Cristina Bayon, Sergio Lerma, Anselmo Frizera, Eduardo Rocon

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)

    Abstract

    Cerebral Palsy (CP) is the most common cause of permanent serious physical disability in childhood. New strategies are needed to help promote, maintain, and rehabilitate the functional capacity of children with severe level of impairment. Overground walking rehabilitation devices appear as an alternative treatment for improving gait performance as well as training natural gait patterns among this population. The main objective of this work is to present a Human-Robot interaction strategy for overground rehabilitation to support novel robotic-based therapies for CP rehabilitation. This strategy is implemented in a new robotic platform named CPWalker. In our approach, legs' kinematics information obtained from a Laser Range Finder (LRF) sensor is used to detect the user's locomotion intentions and drive the robotic platform. The controller continuously adjust robot's velocity to human velocity achieving an adequate robot motion that assists the locomotion at each step. During a preliminary validation we observed that our strategy is able to fast adapt to patients and provide them a stable gait pattern at different speeds. As a result, the proposed controller is able to provide a natural interface between the robotic-platform and the patient.

    Original languageEnglish
    Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
    PublisherIEEE Computer Society
    Pages729-734
    Number of pages6
    ISBN (Electronic)9781509032877
    DOIs
    Publication statusPublished - 26 Jul 2016
    Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2016 - University Town, Singapore, Singapore, Singapore
    Duration: 26 Jun 201629 Jun 2016
    Conference number: 6
    http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics

    Conference

    Conference6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2016
    Abbreviated titleBioRob 2016
    CountrySingapore
    CitySingapore
    Period26/06/1629/06/16
    Internet address

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  • Cite this

    Cifuentes, C. A., Bayon, C., Lerma, S., Frizera, A., & Rocon, E. (2016). Human-Robot interaction strategy for overground rehabilitation in patients with Cerebral Palsy. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (pp. 729-734). [7523713] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523713