Investigation of the Treadport for gait rehabilitation of spinal cord injury

Hejrati, Babak; Hull, Dale; Black, Jan; Abbott, Jake J.; Hollerbach, John M.

doi:10.1109/embc.2012.6346980

Cited by 4 publications

(1 citation statement)

References 25 publications

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“…The current system is already being used as a test bed for training rehabilitation patients (e.g. current usage for paraplegic patients [39]), neurological experiments and haptics re- search along with olfactory and heat display studies. Users for these experiments have not noticed the wind flow to be too narrow or broad.…”

Section: Discussionmentioning

confidence: 99%

A Full Body Steerable Wind Display for a Locomotion Interface

Kulkarni

Fisher

Lefler³

et al. 2015

IEEE Trans. Visual. Comput. Graphics

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This paper presents the Treadport Active Wind Tunnel (TPAWT)-a full-body immersive virtual environment for the Treadport locomotion interface designed for generating wind on a user from any frontal direction at speeds up to 20 kph. The goal is to simulate the experience of realistic wind while walking in an outdoor virtual environment. A recirculating-type wind tunnel was created around the pre-existing Treadport installation by adding a large fan, ducting, and enclosure walls. Two sheets of air in a non-intrusive design flow along the side screens of the back-projection CAVE-like visual display, where they impinge and mix at the front screen to redirect towards the user in a full-body cross-section. By varying the flow conditions of the air sheets, the direction and speed of wind at the user are controlled. Design challenges to fit the wind tunnel in the pre-existing facility, and to manage turbulence to achieve stable and steerable flow, were overcome. The controller performance for wind speed and direction is demonstrated experimentally.

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Section: Discussionmentioning

confidence: 99%

A Full Body Steerable Wind Display for a Locomotion Interface

Kulkarni

Fisher

Lefler³

et al. 2015

IEEE Trans. Visual. Comput. Graphics

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Design and Evaluation of a Soft Robotic Smart Shoe for Haptic Terrain Rendering

Wang

Minor

2018

IEEE/ASME Trans. Mechatron.

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Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface

Hejrati

Crandall

Hollerbach

et al. 2015

IEEE Trans. Haptics

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This paper describes an improved control system for the Treadport immersive locomotion interface, with results that generalize to any treadmill that utilizes an actuated tether to enable self-selected walking speed. A new belt controller is implemented to regulate the user's position; when combined with the user's own volition, this controller also enables the user to naturally self-select their walking speed as they would when walking over ground. A new kinesthetic-force-feedback controller is designed for the tether that applies forces to the user's torso. This new controller is derived based on maintaining the user's sense of balance during belt acceleration, rather than by rendering an inertial force as was done in our prior work. Based on the results of a human-subjects study, the improvements in both controllers significantly contribute to an improved perception of realistic walking on the Treadport. The improved control system uses intuitive dynamic-system and anatomical parameters and requires no ad hoc gain tuning. The control system simply requires three measurements to be made for a given user: the user's mass, the user's height, and the height of the tether attachment point on the user's torso.

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Investigation of the Treadport for gait rehabilitation of spinal cord injury

Cited by 4 publications

References 25 publications

A Full Body Steerable Wind Display for a Locomotion Interface

A Full Body Steerable Wind Display for a Locomotion Interface

Design and Evaluation of a Soft Robotic Smart Shoe for Haptic Terrain Rendering

Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface

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