title: Design of Human-Machine Interface and altering of pelvic obliquity with RGR Trainer.
abstract: The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine Interface (HMI) and we demonstrate the system's ability to alter the pattern of movement of the pelvis during gait in a healthy subject. Results are shown for experiments during which we induced hip-hiking - in healthy subjects. Our findings indicate that the RGR Trainer has the ability of affecting pelvic obliquity during gait. Furthermore, we provide preliminary evidence of short-term retention of the modified pelvic obliquity pattern induced by the RGR Trainer.
authors.affiliation: Mechanical and Industrial Engineering, Northeastern University, 360 Huntington Avenue, Boston, MA 02115, USA.
authors.forename: Maciej
authors.initials: M
authors.lastname: Pietrusinski
authors.forename: Ozer
authors.initials: O
authors.lastname: Unluhisarcikli
authors.forename: Constantinos
authors.initials: C
authors.lastname: Mavroidis
authors.forename: Iahn
authors.initials: I
authors.lastname: Cajigas
authors.forename: Paolo
authors.initials: P
authors.lastname: Bonato
mesh_terms: D000465:Algorithms; D005684:Gait / Q000502:physiology; D006621:Hip Joint / Q000502:physiology; D006801:Humans; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D000071939:Stroke Rehabilitation