High mobility control of an omnidirectional platform for gait rehabilitation after stroke

We present a novel control method for an omnidirectional robotic platform for gait training. This mobile platform or "walker" provides trunk support and allows unrestricted motion of the pelvis simultaneously. In addition to helping the user maintain balance and preventing falls, the walker combines two types of therapeutic intervention: forward propulsion of the trunk and partial body weight support (BWS). The core of the walker's control is an admittance controller that maximizes the platform's horizontal mobility by optimizing the virtual mass of the admittance model. Said mass represents the best tradeoff between a low-frequency oscillation mode that becomes more damped as the virtual mass decreases, and a high-frequency mode that becomes less damped simultaneously and hence could destabilize the system. Forward propulsion of the trunk is aided by a horizontal force that is modulated with the patient's gait speed and turning rate to ensure easy adaptation. BWS is provided by a second, independent admittance controller that generates a spring-like upward force. In an initial study, a stroke patient was able to walk stably in the platform, as evidenced by the absence of oscillations associated with an excessively low virtual mass. A progressive increase in the patient's self-selected speed, along with greater uniformity in the instantaneous velocity, suggest that forward propulsion was effective in compensating the patient's own propulsion deficit.