Gait Simulator Based on the Parallel Stewart-Gough Platform

Sevillano, Gonzalo; Elías, Dante; Callupe, Rocío; Marcacuzco, Ricardo; Barriga, Benjamín

doi:10.1007/978-94-007-2978-0_7

Cited by 3 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this work, a numerical solution based on unique geometric features of SGP is used. Further details are provided in [14]. For all control strategies, hard-coded measures to avoid inter-platform collision are implemented by reducing the available operational space.…”

Section: Gait Simulatormentioning

confidence: 99%

See 1 more Smart Citation

Control Strategies for Gait Tele-Rehabilitation System Based on Parallel Robotics

et al. 2021

Self Cite

View full text Add to dashboard Cite

Among end-effector robots for lower limb rehabilitation, systems based on Stewart–Gough platforms enable independent movement of each foot in six degrees of freedom. Nevertheless, control strategies described in recent literature have not been able to fully explore the potential of such a mechatronic system. In this work, we propose two novel approaches for controlling a gait simulator based on Stewart–Gough platforms. The first strategy provides the therapist direct control of each platform using movement data measured by wearable sensors. The following scheme is designed to improve the level of engagement of the patient by enabling a limited degree of control based on trunk inclination. Both strategies are designed to facilitate future studies in tele-rehabilitation settings. Experimental results have illustrated the feasibility of both control interfaces, either in terms of system performance or user subjective evaluation. Technical capacity to deploy in tele-rehabilitation was also verified in this work.

show abstract

Section: Gait Simulatormentioning

confidence: 99%

“…This study utilizes a gait simulator system based on two Stewart-Gough platforms used for lower limb rehabilitation. A thorough description of its mechanical design and implementation is reported in [14]. We propose in this paper novel control strategies that provide the system with additional tele-rehabilitation capabilities.…”

Section: Introductionmentioning

confidence: 99%