@inproceedings{492258f8075a4f548f46fda8c19933b3,
title = "A six-degree-of-freedom robotic system for lower extremity rehabilitation",
abstract = "This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and a wireless interface this device is portable and well-suited for at-home and in-clinic use. A custom six-degree-of-freedom force/torque sensor was developed to measure real-Time patient forces, and an admittance controller was implemented to provide assistive motion therapy. The results obtained show the suitability of this device for human-robot interaction for the implementation of lower extremity rehabilitation therapy.",
author = "Aaron Yurkewich and Atashzar, {S. Farokh} and Ahmed Ayad and Patel, {Rajni V.}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 ; Conference date: 11-08-2015 Through 14-08-2015",
year = "2015",
month = sep,
day = "28",
doi = "10.1109/ICORR.2015.7281302",
language = "English (US)",
series = "IEEE International Conference on Rehabilitation Robotics",
publisher = "IEEE Computer Society",
pages = "810--815",
editor = "Haoyong Yu and David Braun and Domenico Campolo",
booktitle = "Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics",
}