Model-based Heart rate prediction during Lokomat walking.
We implemented a model for prediction of heart rate during Lokomat walking. Using this model, we can predict potential overstressing of the patient and adapt the physical load accordingly. Current models for treadmill based heart rate control neglect the fact that the interaction torques between Lokomat and human can have a significant effect on heart rate. Tests with five healthy subjects lead to a model of sixth order with walking speed and power expenditure as inputs and heart rate prediction as output. Recordings with five different subjects were used for model validation. Future work includes model identification and predictive heart rate control with spinal cord injured and stroke patients.
Koenig
Alexander C
AC
Sensory Motor Systems Lab, ETH Zurich, Institute of Robotics and Intelligent Systems, Department of Mechanical Engineering and Process Engineering, ETH Zurich, Switzerland. koenig@mavt.ethz.ch
Somaini
Luca
L
Pulfer
Michael
M
Holenstein
Thomas
T
Omlin
Ximena
X
Wieser
Martin
M
Riener
Robert
R
D006339:Heart Rate; D006801:Humans; D008962:Models, Theoretical; D015203:Reproducibility of Results; D016138:Walking