Design of a robot-in-charge mode for the Lopes rehabilitation robot for treatment of heavily affected patients
At this moment the Lopes robot can adjust the walking pattern of a person when the person is walking in it. It can adjust step height, step length and walking speed. But for heavily affected patients it is not yet possible to let the patient walk in de robot.
The objective is to make the Lopes robot suitable for treatment of heavily affected patients. This includes the start-up from zero speed and maintaining a certain speed for which a robot-in-charge mode is needed. And it also includes the transition from the robot-in-charge mode to VMC control.
First the start-up behaviour of normal walking will be studied from normal walking trials in the Lopes robot. Then a control program will be written for a robot-in-charge mode for start-up and transition to VMC control. This program will extend the current Matlab and Simulink control programm of the Lopes Robot with an extra mode.
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