Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis

Cornelius Glackin; Christoph Salge; Daniel Polani; Markus Tuttemann; Carsten Vogel; Carlos Rodriguez Guerrero; Victor Grosu; Svetlana Grosu; Andrej Olensek; Matjaz Zadravec; Imre Cikajlo; Zlatko Matjacic; Adrian Leu; Danijela Ristic-Durrant

doi:10.1109/IROS.2015.7354172

Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis

Cornelius Glackin, Christoph Salge, Daniel Polani, Markus Tuttemann, Carsten Vogel, Carlos Rodriguez Guerrero, Victor Grosu, Svetlana Grosu, Andrej Olensek, Matjaz Zadravec, Imre Cikajlo, Zlatko Matjacic, Adrian Leu, Danijela Ristic-Durrant

University of Hertfordshire

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

The number of mechanical degrees of freedom (DoFs) within rehabilitation robots directly influences the scope of the movements that a subject can perform when training walking. Currently, gait rehabilitation robots have a limited number of mechanical DoFs, as a consequence this limits the movements these robots can make possible. In this paper, the novel gait rehabilitation system CORBYS is presented which consists of the mobile platform and a powered orthosis which is attached to the platform. The CORBYS powered orthosis has 16 DoFs enabling more physiological movements, making it a state-of-the-art gait rehabilitation robotic system. With the sufficient number of DoFs to enable natural-like walking, the CORBYS robotic system enables the integration of the 'learning gait by therapist demonstration' paradigm. This paper presents the fully integrated functional CORBYS gait rehabilitation system, with the focus on the implementation aspects which enable generation of the reference gait trajectory through learning by therapist demonstration, and the use of the generated trajectory in the robotic therapy session. The results of the initial evaluation of the robotic system obtained in tests with a selected patient are given in the paper.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	5605-5610
Number of pages	6
Volume	2015-December
ISBN (Print)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354172
Publication status	Published - 11 Dec 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15

Access to Document

10.1109/IROS.2015.7354172

Cite this

Glackin, C., Salge, C., Polani, D., Tuttemann, M., Vogel, C., Guerrero, C. R., Grosu, V., Grosu, S., Olensek, A., Zadravec, M., Cikajlo, I., Matjacic, Z., Leu, A., & Ristic-Durrant, D. (2015). Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 5605-5610). Article 7354172 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IROS.2015.7354172

@inproceedings{cab5ce8d8e2c4d0085c3c63ef94dcec9,

title = "Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis",

abstract = "The number of mechanical degrees of freedom (DoFs) within rehabilitation robots directly influences the scope of the movements that a subject can perform when training walking. Currently, gait rehabilitation robots have a limited number of mechanical DoFs, as a consequence this limits the movements these robots can make possible. In this paper, the novel gait rehabilitation system CORBYS is presented which consists of the mobile platform and a powered orthosis which is attached to the platform. The CORBYS powered orthosis has 16 DoFs enabling more physiological movements, making it a state-of-the-art gait rehabilitation robotic system. With the sufficient number of DoFs to enable natural-like walking, the CORBYS robotic system enables the integration of the 'learning gait by therapist demonstration' paradigm. This paper presents the fully integrated functional CORBYS gait rehabilitation system, with the focus on the implementation aspects which enable generation of the reference gait trajectory through learning by therapist demonstration, and the use of the generated trajectory in the robotic therapy session. The results of the initial evaluation of the robotic system obtained in tests with a selected patient are given in the paper.",

author = "Cornelius Glackin and Christoph Salge and Daniel Polani and Markus Tuttemann and Carsten Vogel and Guerrero, {Carlos Rodriguez} and Victor Grosu and Svetlana Grosu and Andrej Olensek and Matjaz Zadravec and Imre Cikajlo and Zlatko Matjacic and Adrian Leu and Danijela Ristic-Durrant",

year = "2015",

month = dec,

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doi = "10.1109/IROS.2015.7354172",

language = "English",

isbn = "9781479999941",

volume = "2015-December",

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booktitle = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

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Glackin, C, Salge, C , Polani, D, Tuttemann, M, Vogel, C, Guerrero, CR, Grosu, V, Grosu, S, Olensek, A, Zadravec, M, Cikajlo, I, Matjacic, Z, Leu, A & Ristic-Durrant, D 2015, Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7354172, Institute of Electrical and Electronics Engineers (IEEE), pp. 5605-5610, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7354172

Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis. / Glackin, Cornelius; Salge, Christoph ; Polani, Daniel et al.
IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers (IEEE), 2015. p. 5605-5610 7354172.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis

AU - Glackin, Cornelius

AU - Salge, Christoph

AU - Polani, Daniel

AU - Tuttemann, Markus

AU - Vogel, Carsten

AU - Guerrero, Carlos Rodriguez

AU - Grosu, Victor

AU - Grosu, Svetlana

AU - Olensek, Andrej

AU - Zadravec, Matjaz

AU - Cikajlo, Imre

AU - Matjacic, Zlatko

AU - Leu, Adrian

AU - Ristic-Durrant, Danijela

PY - 2015/12/11

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N2 - The number of mechanical degrees of freedom (DoFs) within rehabilitation robots directly influences the scope of the movements that a subject can perform when training walking. Currently, gait rehabilitation robots have a limited number of mechanical DoFs, as a consequence this limits the movements these robots can make possible. In this paper, the novel gait rehabilitation system CORBYS is presented which consists of the mobile platform and a powered orthosis which is attached to the platform. The CORBYS powered orthosis has 16 DoFs enabling more physiological movements, making it a state-of-the-art gait rehabilitation robotic system. With the sufficient number of DoFs to enable natural-like walking, the CORBYS robotic system enables the integration of the 'learning gait by therapist demonstration' paradigm. This paper presents the fully integrated functional CORBYS gait rehabilitation system, with the focus on the implementation aspects which enable generation of the reference gait trajectory through learning by therapist demonstration, and the use of the generated trajectory in the robotic therapy session. The results of the initial evaluation of the robotic system obtained in tests with a selected patient are given in the paper.

AB - The number of mechanical degrees of freedom (DoFs) within rehabilitation robots directly influences the scope of the movements that a subject can perform when training walking. Currently, gait rehabilitation robots have a limited number of mechanical DoFs, as a consequence this limits the movements these robots can make possible. In this paper, the novel gait rehabilitation system CORBYS is presented which consists of the mobile platform and a powered orthosis which is attached to the platform. The CORBYS powered orthosis has 16 DoFs enabling more physiological movements, making it a state-of-the-art gait rehabilitation robotic system. With the sufficient number of DoFs to enable natural-like walking, the CORBYS robotic system enables the integration of the 'learning gait by therapist demonstration' paradigm. This paper presents the fully integrated functional CORBYS gait rehabilitation system, with the focus on the implementation aspects which enable generation of the reference gait trajectory through learning by therapist demonstration, and the use of the generated trajectory in the robotic therapy session. The results of the initial evaluation of the robotic system obtained in tests with a selected patient are given in the paper.

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DO - 10.1109/IROS.2015.7354172

M3 - Conference contribution

AN - SCOPUS:84958156717

SN - 9781479999941

VL - 2015-December

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BT - IEEE International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

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Glackin C, Salge C , Polani D, Tuttemann M, Vogel C, Guerrero CR et al. Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December. Institute of Electrical and Electronics Engineers (IEEE). 2015. p. 5605-5610. 7354172 doi: 10.1109/IROS.2015.7354172

Learning gait by therapist demonstration for natural-like walking with the CORBYS powered orthosis

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