Experimental Investigation On Adaptive Controlled GAIT Rehabilitation Robots

Over the rapid developments in mechatronics field, number of robotic platforms are emerged in medical field particularly in GAIT rehabilitation treatment targeted to recover the cardio vascular patients with acute neurological defects. Robotics Assisted Treadmill Exercise (RATE) is well known and efficient GAIT technique for the patient recovery. This work aims to develop a novel based adaptive controlled RATE, targeted to provide optimal exercise intensity for patients by feedback from oxygen uptake rate along with the heart rate with focus on impulse and ramp tracking. The proposed controller has communicate with feedback system for control of mechanical work rate which takes its target work rate from the automatic oxygen uptake control loop. This work also compares the efficiency and clinical feasibility of Adaptive Controlled – RATE with the Feedback controlled – RATE. Results of adaptive control of oxygen uptake profiles and disturbance rejection tests by impulse tracking demonstrated the technical feasibility and accuracy of the approach. The approach presented here provides adaptive control of exercise intensity during RATE by biofeedback and voluntary adaptation of the hip and knee forces by the individual.