An Assistive Robotic Device That Can Synchronize to the Pelvic Motion During Human Gait Training

2005 ◽  
Author(s):  
D. Aoyagi ◽  
W.E. Ichinose ◽  
S.J. Harkema ◽  
D.J. Reinkensmeyer ◽  
J.E. Bobrow
Keyword(s):  
Gait Training ◽  
Human Gait ◽  
Robotic Device ◽  
Pelvic Motion ◽  
Assistive Robotic

scholarly journals Proposal of Wheeled Gait-Training Walker with Dual-Assist Arms and Preliminary Pelvis-Handling Control

2021 ◽  
Vol 33 (3) ◽  
pp. 676-685
Author(s):  
Kenji Uegami ◽  
Hiroki Aoyama ◽  
Katsushi Ogawa ◽  
Kazuo Yonenobu ◽  
Seonghee Jeong ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Physical Therapist ◽  
Gait Training ◽  
Daily Activities ◽  
Hardware System ◽  
Pelvic Motion ◽  
Trajectory Following ◽  
Limb Load

To achieve good rehabilitation in a person, the amount of walking by the person must be increased. Herein, a compact wheeled gait-training walker with dual-assist arms for assisting pelvic motion is proposed. The training walker is constructed by modifying a commercial wheeled walker with armrests. Therefore, it can be used easily by patients to perform their daily activities at rehabilitation sites. The hardware system and controller of the proposed assisting arms are designed based on gait-assist motions conducted by a physical therapist. The dual arms can achieve a pelvis-assisting motion with five degrees of freedom. A trajectory-following control with virtual compliance is implemented for the arms. Gait-assisting experiments are conducted, in which the dual arms allow a pelvic-like plate to follow the trajectory of a reference pose while reducing the upper body’s weight resting on the armrests. A 20 N force on the armrests, which represents the upper-limb load, is reduced while the plate follows the trajectory, and the proposed gait-assisting controller is validated.

Design of a Passive Leg Orthosis for Human Gait Correction

2003 ◽  
Author(s):  
Abbas Fattah ◽  
Sunil K. Agrawal ◽  
John Fitzgibbons
Keyword(s):  
Sagittal Plane ◽  
Human Subjects ◽  
Gait Training ◽  
Plane Motion ◽  
Human Gait ◽  
Functional Relationships ◽  
Cam Design ◽  
Normal Gait ◽  
Neural Disorders ◽  
Flexion And Extension

This paper presents the design of a passive leg orthosis for gait correction of human subjects. During normal walk, the joints of a human leg, namely, the hip, knee, and ankle satisfy certain functional relationships. During post stroke and other neural disorders, the gait deviates substantially from this normal gait. Hence, there is a need to design rehabilitation machines for gait training. Our design targets the sagittal plane motion of the leg, i.e., it considers the hip and knee flexion and extension motions. The paper describes the details of the cam design and results of a demonstration prototype.

Virtual Interaction Between Patients and Occupational Therapists Using an Assistive Robotic Device With Cyber-Physical System

2018 ◽  
Author(s):  
Marvin H. Cheng ◽  
Po-Lin Huang ◽  
Hao-Chuan Chu ◽  
Li-Han Peng ◽  
Ezzat Bakhoum
Keyword(s):  
Physical System ◽  
Occupational Therapists ◽  
Robotic System ◽  
Cyber Physical System ◽  
Robotic Device ◽  
Stroke Patients ◽  
Virtual Interaction ◽  
Weight Design ◽  
Robotic Devices ◽  
Assistive Robotic

In this paper, we propose to design, develop, and study a cyber-physical system that enables patients and therapists to virtually interact for rehabilitation activities with assistive robotic devices. The targeted users of this system are post-stroke patients. On the patient’s side, an assistive robotic device can generate the force that the therapist applies to the patient. On the therapist’s side, another robotic device can reproduce the responsive force generated by the patient. With this system, the interaction can be virtually established. In addition, by integrating real human trajectories, the proposed assistive robotic system can help patients to perform rehabilitation activities in their own pace. Such an assistive robotic system and virtual interacting scheme can minimize both patient’s and therapist’s traveling time. The assistive functions of this light weight design can also help patients to in their ADLs.

Hybrid Dynamic Modelling and Bioinspired Control Based on Central Pattern Generator of Biped Robotic Gait

2020 ◽  
pp. 233-268
Author(s):  
Luis Miguel Izquierdo-Córdoba ◽  
João Maurício Rosário ◽  
Darío Amaya Hurtado
Keyword(s):  
Central Pattern Generator ◽  
System Modeling ◽  
Functional Integration ◽  
Dynamic Modelling ◽  
Pattern Generator ◽  
Human Gait ◽  
Robotic Device ◽  
Hybrid Dynamic System ◽  
Finite State ◽  
Robotic Devices

This chapter presents the theoretical foundations and methodology to develop a bioinspired hybrid control architecture for a biped robotic device that reproduces gait and human motor control strategies with the ability to adapt the trajectory to environmental conditions. The objective is to design robotic devices (such as exoskeletons), through the functional integration of hybrid dynamic system modeling (event-driven and continuous dynamics) with efficient and robust conventional control techniques and bioinspired control algorithms, with a near-natural human gait pattern. The human gait cycle is modeled as a hybrid dynamic using a finite state machine (FSM). The gait trajectories are to be generated in such a way that they will be capable of adapting to disturbances in the path followed by the robotic device; this will be achieved using a neuronal oscillator that simulates the behavior of a central pattern generator (CPG).

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