ArticleTechnology and health care : official journal of the European Society for Engineering and Medicine2023
Simulation study on assist-as-needed control of a rehabilitation robotic walker.
Article in Technology and health care : official journal of the European Society for Engineering and Medicine, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed, 5 citations in OpenAlex.
- Functions and Sensors of Smart Walkers From 2015 to 2024: Scoping Review.JMIR rehabilitation and assistive technologies · 2026Review
- Article
- Development of a smart walker for clinical settings: a protocol of an exploratory mixed-methods study.BMJ open · 2025Article
- Multimodal fusion and human-robot interaction control of an intelligent robot.Frontiers in bioengineering and biotechnology · 2023Article
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Authors and funding
5 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundAlong with China entering an aging society, the percentage of people that over 60 will reach 34.9% in 2050, resulted in a significant increase in stroke patients.
objectiveThis paper proposes a rehabilitation robotic walker for walking assistance during the daily life, and a control method for the motor relearning during the gait training. The walker consists of an omni-directional mobile platform (OMP) which ensures the walker can move on the ground, a body weight support system (BWS) which is capable of providing the desired unloading force, and a pelvic assist mechanism (PAM) to provide the user with four degrees of freedom and avoid the rigid impact. The study goal is to gain a better understanding of the assist-as-needed control strategy during the gait training.
methodsFor the man-machine interaction control, the assist-as-needed control strategy is adopted to guide the users' motions and improve the interaction experience. To build the force field in the three-dimensional space, the dynamics of the system is derived to increase the accuracy of force control.
resultsThe simulation results show that the force field around the motion trajectory was generated in the three-dimensional space. In order to understand the force field, we designed the simulation on sagittal plane and the controller can generate the appropriate force field. The preliminary experiment results were consistent with the simulation results.
conclusionBased on the mathematical simulation and the preliminary test, the results demonstrate that the proposed system can provide the guide force around the target trajectory, the accuracy of force control still remains to be improved.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.