A joint project of the Graduate School, Peabody College, and the Jean & Alexander Heard Library

Title page for ETD etd-04152016-165708

Type of Document Dissertation
Author Murray, Spencer Ambrose
URN etd-04152016-165708
Title Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke
Degree PhD
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Michael Goldfarb Committee Chair
Eric J. Barth Committee Member
Nilanjan Sarkar Committee Member
Richard Alan Peters II Committee Member
Robert J. Webster III Committee Member
  • gait rehabilitation
  • exoskeleton
  • stroke
Date of Defense 2015-04-15
Availability unrestricted
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.
  Filename       Size       Approximate Download Time (Hours:Minutes:Seconds) 
 28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access 
  SAMurray.pdf 2.17 Mb 00:10:03 00:05:10 00:04:31 00:02:15 00:00:11

Browse All Available ETDs by ( Author | Department )

If you have more questions or technical problems, please Contact LITS.