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Figure 2 | Journal of NeuroEngineering and Rehabilitation

Figure 2

From: Feasibility and effects of patient-cooperative robot-aided gait training applied in a 4-week pilot trial

Figure 2

Control scheme of the Generalized Elastic Path Control combined with the conventional impedance control approach. The "Path Force Field" block constitutes a conservative force field and computes the torques Ï„elast as a function of the actual joint angles qact[53]. The corrective torques Ï„cor of the "Impedance" block simulate a viscoelastic coupling of the actual angles qact to the reference angles qref. The "torque-controlled drives" apply the desired torques to the Lokomat orthosis ("Orthosis"). These torques are measured as Ï„sens. Together with the interaction torques Ï„int, they move the exoskeleton and determine the actual angles qact.

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