by Keyword: Force control
Rajasekaran, V., Aranda, J., Casals, A., (2014). Handling disturbances on planned trajectories in robotic rehabilitation therapies IFMBE Proceedings 
XIII Mediterranean Conference on Medical and Biological Engineering and Computing 2013 (ed. Roa Romero, Laura M.), Springer International Publishing (London, UK) 41, 85-88
Robotic rehabilitation therapies are an emerging tool in the field of Neurorehabilitation in order to achieve an effective therapeutic development in the patient. In this paper, the role of disturbances caused by muscle synergies or unpredictable effects of artificial stimulation in muscles during rehabilitation therapies is analyzed. In terms of gait assistance it is also important to maintain synchronized movements to ensure a dynamically stable gait. Although, disturbances affecting joints are corrected by a force control approach, we define two methods to ensure stability and synchronization of joint movements in the trajectory to be followed. The performance of the presented methods is evaluated in comparison with a preplanned trajectory to be followed by the patients.
JTD Keywords: Exoskeleton, Force control, Gait assistance, Neurorobot, Trajectory planning
