This paper explores the design of a novel robotic device for gait training and rehabilitation, a method to estimate a human's orientation within the rehabilitation device, as well as an optimal state space controller to actuate the rehabilitation device. The robotic parallel bars (RPBs) were designed to address the shortcomings of currently available assistive devices. The RPB device moves in response to a human occupant to maintain a constant distance and orientation to the human. To minimize the error in tracking the human, a complementary filter was optimized to estimate the human's orientation within the device using a magnetometer and gyroscope. Experimental measurements of complementary filter performance on a test platform show that the filter estimates orientation with an average error of 0.62 deg over a range of angular velocities from 22.5 deg/s to 180 deg/s. The RPB device response was simulated, and an optimal state space controller was implemented using a linear quadratic regulator (LQR). The controller has an average position error of 14.1 cm and an average orientation error of 14.3 deg when tracking a human, while the simulation predicted an average error of 10.5 cm and 5.6 deg. The achieved level of accuracy in following a human user is sufficiently sensitive for the RPB device to conduct more advanced, realistic gait training and rehabilitation techniques for mobility impaired patients able to safely support their body weight with their legs and arms.
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December 2015
Research-Article
Minimizing Human Tracking Error for Robotic Rehabilitation Device
Andrew J. Homich,
Andrew J. Homich
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: ajh5267@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: ajh5267@psu.edu
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Megan A. Doerzbacher,
Megan A. Doerzbacher
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: mad5560@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: mad5560@psu.edu
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Eric L. Tschantz,
Eric L. Tschantz
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: elt5104@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: elt5104@psu.edu
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Stephen J. Piazza,
Stephen J. Piazza
Department of Kinesiology,
The Pennsylvania State University,
University Park, PA 16802
e-mail: piazza@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: piazza@psu.edu
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Everett C. Hills,
Everett C. Hills
Department of Physical Medicine
and Rehabilitation,
The Pennsylvania State University,
University Park, PA 16802
e-mail: ech14@psu.edu
and Rehabilitation,
The Pennsylvania State University,
University Park, PA 16802
e-mail: ech14@psu.edu
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Jason Z. Moore
Jason Z. Moore
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: jzm14@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: jzm14@psu.edu
Search for other works by this author on:
Andrew J. Homich
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: ajh5267@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: ajh5267@psu.edu
Megan A. Doerzbacher
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: mad5560@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: mad5560@psu.edu
Eric L. Tschantz
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: elt5104@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: elt5104@psu.edu
Stephen J. Piazza
Department of Kinesiology,
The Pennsylvania State University,
University Park, PA 16802
e-mail: piazza@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: piazza@psu.edu
Everett C. Hills
Department of Physical Medicine
and Rehabilitation,
The Pennsylvania State University,
University Park, PA 16802
e-mail: ech14@psu.edu
and Rehabilitation,
The Pennsylvania State University,
University Park, PA 16802
e-mail: ech14@psu.edu
Jason Z. Moore
Department of Mechanical Engineering,
The Pennsylvania State University,
University Park, PA 16802
e-mail: jzm14@psu.edu
The Pennsylvania State University,
University Park, PA 16802
e-mail: jzm14@psu.edu
Manuscript received October 21, 2014; final manuscript received March 20, 2015; published online August 6, 2015. Assoc. Editor: Carl Nelson.
J. Med. Devices. Dec 2015, 9(4): 041003 (8 pages)
Published Online: August 6, 2015
Article history
Received:
October 21, 2014
Revision Received:
March 20, 2015
Citation
Homich, A. J., Doerzbacher, M. A., Tschantz, E. L., Piazza, S. J., Hills, E. C., and Moore, J. Z. (August 6, 2015). "Minimizing Human Tracking Error for Robotic Rehabilitation Device." ASME. J. Med. Devices. December 2015; 9(4): 041003. https://doi.org/10.1115/1.4030275
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