ICRA 2010 Workshop “ Robotic Exoskeletons for …fileadmin.cs.lth.se/ai/Proceedings/ICRA2010/ICRA...
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ICRA 2010 Workshop “Robotics Research Towards Better Quality of Life” Robotic Exoskeletons for Gait and Training of the Motor Impaired Sunil K. Agrawal University of Delaware E-mail: [email protected] Abstract Robotics is emerging as a promising tool for training of human functional movements. The talk will describe novel designs of lower extremity exoskeletons, intended for gait assistance and training of motor-impaired patients. The exoskeletons have undergone tests on healthy and chronic stroke survivors to assess their potential. GBO is a Gravity Balancing un-motorized Orthosis which can alter the gravity acting at the hip and knee joints during swing. ALEX is an A ctively driven L eg Ex oskeleton which can modulate the foot trajectory using motors at the joints. This research is supported by NIH through a BRP program. Biography Sunil K. Agrawal received a Ph.D. degree in Mechanical Engineering from Stanford University in 1990. He is currently the Director of Mechanical Systems Laboratory. He has published close to 250 journal and conference papers. Dr. Agrawal is a Fellow of the ASME and his other honors include a Presidential Faculty Fellowship from the White House in 1994, a Bessel Prize from Germany in 2003, and a Humboldt US Senior Scientist Award in 2007. He has served on editorial boards of several journals published by ASME and IEEE. References [1] S. K. Banala, S. H. Kim, S. K. Agrawal, J. P. Scholz, “Robot Assisted Gait Training with Active Leg Exoskeleton (ALEX)”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 17, No. 1, 2009, 2-8. [2] V. Krishnamoorthy, W-L Hsu, W-L, T.M. Kesar, D. L. Benoit, S. K. Banala, S.K., R. Perumal, V. Sangwan, S. A. Binder-Macleod, S. K. Agrawal, and J. P. Scholz, ”Gait Training following stroke: A pilot study combining a gravity-balanced orthosis device, functional electrical stimulation and visual feedback”, Journal of Neurologic Physical Therapy, Vol. 232, December 2008, 192-202. [3] S. K. Agrawal, S. Banala, A. Fattah, V. Sangwan, V. Krishnamoorthy, J. P. Scholz, W. L. Hsu, "Assessment of Motion of a Swing Leg and Gait Rehabilitation with a Gravity Balancing Exoskeleton", IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol. 15, No. 3, 2007, 410-420.
Transcript of ICRA 2010 Workshop “ Robotic Exoskeletons for …fileadmin.cs.lth.se/ai/Proceedings/ICRA2010/ICRA...
ICRA 2010 Workshop “Robotics Research Towards Better Quality of Life”
Robotic Exoskeletons for Gait and Training of the Motor Impaired
Sunil K. Agrawal University of Delaware
E-mail: [email protected]
Abstract Robotics is emerging as a promising tool for training of
human functional movements. The talk will describe novel designs of lower extremity exoskeletons, intended for gait assistance and training of motor-impaired patients. The exoskeletons have undergone tests on healthy and chronic stroke survivors to assess their potential. GBO is a Gravity Balancing un-motorized Orthosis which can alter the gravity acting at the hip and knee joints during swing. ALEX is an Actively driven Leg Exoskeleton which can modulate the foot trajectory using motors at the joints. This research is supported by NIH through a BRP program.
Biography Sunil K. Agrawal received a Ph.D. degree in Mechanical Engineering from Stanford University in 1990. He is currently the Director of Mechanical Systems Laboratory. He has published close to 250 journal and conference papers. Dr. Agrawal is a Fellow of the ASME and his other honors include a Presidential Faculty Fellowship from the White House in 1994, a Bessel Prize from Germany in 2003, and a Humboldt US Senior Scientist Award in 2007. He has served on editorial boards of several journals published by ASME and IEEE.
References
[1] S. K. Banala, S. H. Kim, S. K. Agrawal, J. P. Scholz, “Robot Assisted Gait Training with Active Leg Exoskeleton (ALEX)”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 17, No. 1, 2009, 2-8.
[2] V. Krishnamoorthy, W-L Hsu, W-L, T.M. Kesar, D. L. Benoit, S. K. Banala, S.K., R. Perumal, V. Sangwan, S. A. Binder-Macleod, S. K. Agrawal, and J. P. Scholz, ”Gait Training following stroke: A pilot study combining a gravity-balanced orthosis device, functional electrical stimulation and visual feedback”, Journal of Neurologic Physical Therapy, Vol. 232, December 2008, 192-202.
[3] S. K. Agrawal, S. Banala, A. Fattah, V. Sangwan, V. Krishnamoorthy, J. P. Scholz, W. L. Hsu, "Assessment of Motion of a Swing Leg and Gait Rehabilitation with a Gravity Balancing Exoskeleton", IEEE Trans. on Neural Systems and Rehabilitation Engineering, Vol. 15, No. 3, 2007, 410-420.
