A System for Gait Rehabilitation: Mobile Manipulator Approach
نویسندگان
چکیده
A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mobile manipulator used to compensate for dynamic interactions, unmodeled dynamics, and disturbances by the user on the system, is derived and experimental results are shown. Keywords—Rehabilitation Robot System, Gait Rehabilitation, Neural Network based Control, Mobile Manipulator.
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