dc.creator | Murray, Spencer Ambrose | |
dc.date.accessioned | 2020-08-22T00:34:04Z | |
dc.date.available | 2016-04-18 | |
dc.date.issued | 2016-04-18 | |
dc.identifier.uri | https://etd.library.vanderbilt.edu/etd-04152016-165708 | |
dc.identifier.uri | http://hdl.handle.net/1803/12170 | |
dc.description.abstract | Lower-limb weakness or paralysis is a common impairment following stroke. In recent years numerous robotic-assisted systems have been developed to aid in post-stroke gait rehabilitation. The controllers developed for these systems have nearly all consisted of traditional or modified trajectory-based control systems which guide a patient’s limbs through a kinematically improved gait cycle. Controllers which do not operate on a trajectory basis may offer numerous advantages, especially when implemented on an overground (as opposed to treadmill-based) robotic system. This thesis describes the development and evaluation of a non-trajectory-based controller for use in post-stroke gait training. The controller has been implemented on a lower-limb robotic exoskeleton and tested with several subjects recovering from stroke. Subjects were able to improve gait speed and stride length after practicing overground gait in the exoskeleton. | |
dc.format.mimetype | application/pdf | |
dc.subject | gait rehabilitation | |
dc.subject | exoskeleton | |
dc.subject | stroke | |
dc.title | Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke | |
dc.type | dissertation | |
dc.contributor.committeeMember | Richard Alan Peters II | |
dc.contributor.committeeMember | Robert J. Webster III | |
dc.contributor.committeeMember | Eric J. Barth | |
dc.contributor.committeeMember | Nilanjan Sarkar | |
dc.type.material | text | |
thesis.degree.name | PHD | |
thesis.degree.level | dissertation | |
thesis.degree.discipline | Electrical Engineering | |
thesis.degree.grantor | Vanderbilt University | |
local.embargo.terms | 2016-04-18 | |
local.embargo.lift | 2016-04-18 | |
dc.contributor.committeeChair | Michael Goldfarb | |