Publication Details

Sariyildiz, E., Cheng, H., Yagli, G. M. & Yu, H. (2017). Modelling and control of a novel walker robot for post-stroke gait rehabilitation. IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (pp. 5221-5226). United States: IEEE.


In this paper, a novel walker robot is proposed for post-stroke gait rehabilitation. It consists of an omni-directional mobile platform which provides high mobility in horizontal motion, a linear motor that moves in vertical direction to support the body weight of a patient and a 6-axis force/torque sensor to measure interaction force/torque between the robot and patient. The proposed novel walker robot improves the mobility of pelvis so it can provide more natural gait patterns in rehabilitation. This paper analytically derives the kinematic and dynamic models of the novel walker robot. Simulation results are given to validate the proposed kinematic and dynamic models.



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