| Description |
This dissertation explores using robotic technologies to change gait in realistic ways for gait rehabilitation applications. The work is represented by two major themes, each with the goal of improving gait performance in individuals with spinal cord injuries (SCI). The first theme relates to characterizing and updating the Treadport system, and is com-prised of three studies: the first is a comparison between walking overground and on an advanced robotic locomotion interface called the Treadport; the second study compares walking on real and virtual steep slopes using a new slope rendering algorithm; the third study compares obstacle negotiation overground and on the Treadport using an updated projection system and a new real-time virtual-world-connection algorithm. The second theme relates to evaluating the new, enhanced Treadport features on users with SCI, and is comprised of two studies: the first study is an evaluation of which virtual reality features on the Treadport have the highest influence on individuals with SCI; the second study is a comparison of SCI rehabilitation on ordinary body-weight-support treadmills and on the Treadport with body weight support. The methods, software, and mechanical devices developed in the course of this study present a new baseline for torso-based haptic exploration of virtual environments. The results transfer well to other virtual reality locomotion interfaces, and speak to the utility of torso-based force feedback for connecting users to the virtual world. In particular, this study evaluates the impact of torso-based force feedback on gait rehabilitation effectiveness and efficiency. |
