A system for gait rehabilitation: mobile manipulator approach

Abstract

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.