Cited by 503Prosthetics and Rehabilitation RoboticsSpinal Cord Injury ResearchStroke Rehabilitation and Recovery

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Robotic Orthosis Lokomat: A Rehabilitation and Research Tool

Jezernik, Sašo, Colombo, Gery, Keller, Thierry, Frueh, Hansruedi, Morari, Manfred·2003·Neuromodulation Technology at the Neural Interface

DOI 10.1046/j.1525-1403.2003.03017.x

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Abstract

The aim of this article is to introduce the robotic orthosis Lokomat, developed to automate treadmill training rehabilitation of locomotion for spinal cord injured and stroke patients, to the Functional Electrical Stimulation (FES) and Neuromodulation research communities, and to report on our newly conducted research. We first illustrate the primary use of Lokomat in rehabilitation and focus on control aspects and algorithms associated with robotic rehabilitation of locomotion. Then we describe two applications where the Lokomat was used as a research tool. The first application is closed-loop control of the FES-induced shank movement and the second is the development of a neural network model of the spinal locomotor centers. This model was used to derive a neural locomotion controller for the Lokomat.

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Treadmill training of paraplegic patients using a robotic orthosis.
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Treadmill Training With Partial Body Weight Support Compared With Physiotherapy in Nonambulatory Hemiparetic Patients
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Impedance Control Based Gait-Pattern Adaptation for a Robotic Rehabilitation Device
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Controlling the human-robot interaction for robotic rehabilitation of locomotion
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A NOVEL SLIDING MODE CONTROLLER FOR FUNCTIONAL ELECTRICAL STIMULATION
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Jezernik S, Colombo G, Morari M. Joint-angle trajectory adaptation for the robotic orthosis Lokomat. In: Proceedings of the Workshop on European Scientific and Industrial Collaboration (WESIC). Enschede, The Netherlands, 2001: pp 451–456. (available from http://www.aut.ee.ethz.ch)
Jezernik S, Inderbitzin P, Keller T. Riener R. Sliding mode control of Functional Electrical Stimulation for knee joint angle tracking. Proceedings of the 7th Vienna International Workshop on Functional Electrical Stimulation. Vienna, 2001: pp 160–163.

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Authors: Jezernik, S., Colombo, G., Keller, T., Frueh, H., & Morari, M.
Affiliations: University of Zurich (CH)
Universitätsklinik Balgrist (CH)
ETH Zurich (CH)
Corresponding author: Jezernik, Sašo
ORCID: Jezernik, Sašo
Keller, Thierry
Morari, Manfred
Venue: Neuromodulation Technology at the Neural Interface
Publisher: Elsevier BV
Published: 2003-04
Volume: 6
Issue: 2
Pages: 108-115
ISSN: 1094-7159 (ISSN-L)
DOI: 10.1046/j.1525-1403.2003.03017.x
OpenAlex: W2105236479
Cited by: 503
References: 7
Citations by year: 2026: 9 · 2025: 14 · 2024: 21 · 2023: 40 · 2022: 28 · 2021: 46 · 2020: 35 · 2019: 45 · 2018: 32 · 2017: 32 · 2016: 25 · 2015: 29 · 2014: 26 · 2013: 29 · 2012: 14
FWCI: 2.90
Type: journal article
Language: en
Open access: closed
Licence: www.elsevier.com/tdm/userlicense/1.0/ (tdm)
www.elsevier.com/legal/tdmrep-license (tdm)
Locations: Neuromodulation Technology at the Neural Interface (publishedVersion)
PubMed (publishedVersion)
TECNALIA Publications (Fundación TECNALIA Research & Innovation) (submittedVersion)
Topics: Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
Health Sciences › Medicine › Clinical Neurology › Spinal Cord Injury Research
Health Sciences › Medicine › Rehabilitation › Stroke Rehabilitation and Recovery
Keywords: Lokomat, robotic orthosis, gait rehabilitation, treadmill training, spinal cord injury, stroke, functional electrical stimulation, feedback control

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Robotic Orthosis Lokomat: A Rehabilitation and Research Tool

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