Mobile Robotic Assistive Balance Trainer - an intelligent compliant and adaptive robotic balance assistant for daily living

Carlo Tiseo, Zhen Yi Lim, Cheng Yap Shee, Wei Tech Ang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Balance control probably has the greatest impact on independence in activities of daily living (ADL), because it is a fundamental motor skill and prerequisite to the maintenance of a myriad of postures and mobile activities. We propose a new rehabilitation therapy to administer standing and mobile balance control training, enabled by a Mobile Robotic Assistive Balance Trainer (MRABT). The targeted group for this initial work is post stroke patients, although it can be extended to subjects with other neurological insults in the future. The proposed system consists of a mobile base and a parallel robotic arm which provides support to the patient at the hip. The compliant robotic arm with intelligent control algorithm will only provide support and assistance to the patient when the center of mass of the body deviates beyond the predefined safety boundary, mimicking the helping hands of a parent when a toddler learns to walk. In this paper, we present our initial work in the design and kinematic analysis of the system.

Original languageEnglish
Title of host publication2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages5300-5303
Number of pages4
DOIs
Publication statusPublished - 6 Nov 2014
Event36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society - Chicago, United States
Duration: 26 Aug 201430 Aug 2014

Publication series

NameIEEE Engineering in Medicine and Biology Society Conference Proceedings
PublisherIEEE
ISSN (Print)1557-170X

Conference

Conference36th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society
Abbreviated titleEMBC 2014
CountryUnited States
CityChicago
Period26/08/1430/08/14

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