Design of Lower Limb Exoskeleton for Stroke Patients Gait Rehabilitation

2021 ◽  
Author(s):  
Kadek Heri Sanjaya ◽  
Dwi Esti Kusumandari ◽  
Rina Ristiana ◽  
Zaki Ambadar ◽  
Dhiny Hari Utama ◽  
...  
Keyword(s):  
Lower Limb ◽  
Gait Rehabilitation ◽  
Stroke Patients ◽  
Lower Limb Exoskeleton

scholarly journals The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

2017 ◽  
Vol 105 ◽  
pp. 183-190 ◽  
Author(s):  
A.P.P.A. Majeed ◽  
Z. Taha ◽  
A.F.Z. Abidin ◽  
M.A. Zakaria ◽  
I.M. Khairuddina ◽  
...  
Keyword(s):  
Force Control ◽  
Lower Limb ◽  
Gait Rehabilitation ◽  
Active Force ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Active Force Control

scholarly journals Impacts of a lower limb exoskeleton robot on the muscle strength of tibialis anterior muscle in stroke patients

2020 ◽  
Vol 185 ◽  
pp. 03036
Author(s):  
Jiyu Zhang ◽  
Tian Wang ◽  
Qingyu Zhao ◽  
Shichao Liu
Keyword(s):  
Muscle Strength ◽  
Lower Limb ◽  
Tibialis Anterior ◽  
Tibialis Anterior Muscle ◽  
Attractive Potential ◽  
Control Group ◽  
Stroke Patients ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Robot Group

This work aims to explore the impact of a proposed lower limb exoskeleton robot on the muscle strength of the tibialis anterior muscle in stroke patients. Firstly, 24 patients with stroke hemiplegia were divided into the robot group and the control group according to a random number table. Both groups received conventional rehabilitation treatments. Moreover, the robot group took the walking training with UG0210, a lower limb exoskeleton walking rehabilitation device developed by the Hangzhou RoboCT Technology Development Co., Ltd., once per day, 30 minutes per time, a total of 20 times of treatment. The control group took the conventional rehabilitation walking training, once per day, 30 mins per time, a total of 20 times of treatment. At the beginning of the trial, the manual muscle strength test (MMT) was used to assess the pre-trial muscle strength within the trial cycle. The efficacy of the two groups was compared. Results The muscle strength of the tibialis anterior muscle was higher than that without treatments in both groups (P<0.05). The curative effect of the robot group was better than that of the control group (P<0.05). Conclusions With the help of the designed lower limb exoskeleton robot, both tibialis anterior muscle strength and lower limb motor function of stroke patients were improved compared to the control group. The comparison shows the attractive potential and value of the robot assisted rehabilitation.

Design and validation of a lower limb exoskeleton employing the recumbent cycling modality for post-stroke rehabilitation

2014 ◽  
Vol 228 (18) ◽  
pp. 3517-3525 ◽  
Author(s):  
Hua Yan ◽  
Canjun Yang
Keyword(s):  
Lower Limb ◽  
Muscle Power ◽  
Sagittal Plane ◽  
Kinematic Model ◽  
Stroke Patients ◽  
Post Stroke ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Limited Range Of Motion ◽  
Custom Made

This paper presents the design and validation of a lower limb exoskeleton robot for post-stroke patients at the early stage of neurorehabilitation. Instead of the usual walking gait, the popular exercise, recumbent cycling, is adopted to provide a safe and comfortable movement training to the patients who lost active motor abilities due to a very low muscle power. The exoskeleton robot mounted on a commercial wheelchair possesses two pairs of hip and knee joints on the right and left legs, respectively, and each joint has one degree of freedom actuated by a custom-made linear actuator in the sagittal plane. Additionally, two passive ankle joints are added to provide a limited range of motion for human comfort. The hip and knee joint motion profiles were calculated based on a simplified kinematic model of the recumbent cycling modality, and implemented through the motor position–velocity–time trajectory. Clinical trials were conducted on six stable post-stroke patients with a low muscle power under the supervision of a skilled therapist. The preliminary results validated the functionality and feasibility of the new exoskeleton robot and showed a promising application of the recumbent cycling modality in robot-assisted neurorehabilitation.

scholarly journals Impacts of a lower limb exoskeleton robot on anxious stroke patients

2020 ◽  
Vol 218 ◽  
pp. 03050
Author(s):  
Jiyu Zhang ◽  
Jiajia Yao ◽  
Tian Wang ◽  
Qingyu Zhao ◽  
Qi Qi
Keyword(s):  
Lower Limb ◽  
Anxiety Scale ◽  
Control Group ◽  
Stroke Patients ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Walking Rehabilitation ◽  
And Control ◽  
Experimental Group ◽  
Robot Group

To explore the intervention effect of exoskeleton robot training on anxiety of stroke patients. Methods 24 stroke patients with hemiplegia were randomly divided into experimental group and control group, with 12 cases in each group. Moreover, the robot group took the walking training with UGO 210, a lower limb exoskeleton walking rehabilitation, once per day, 30 minutes per time, a total of 20 times of treatment. Before the trial and at the end of the trial cycle, patients’ emotions were assessed using the Self-rating Anxiety scale (SAS), and the efficacy of the two groups was compared. Results: The scores of anxiety scale decreased in both groups (P <0.05), and there was no difference between the two groups (P <0.05). Conclusion: The use of exoskeleton robot can improve the anxiety of stroke patients, but there is no difference compared with the conventional walking training.

A Modular Rehabilitation Lower Limb Exoskeleton for Stroke Patients With Hemiplegia

2021 ◽  
Author(s):  
Pengbo Li ◽  
Wenhao Wei ◽  
Ruoyu Bao ◽  
Bailin He ◽  
Zhilong Su ◽  
...  
Keyword(s):  
Lower Limb ◽  
Stroke Patients ◽  
Lower Limb Exoskeleton

Design and Analysis of a Lower Limb Exo-Skeleton Suit for Post Stroke Patient: Static and Ergonomic Analyses

Mekatronika ◽  
2021 ◽  
Vol 3 (2) ◽  
pp. 6-18
Author(s):  
S. A. F. Suhaimi ◽  
N. M. H. T. Suhaimi ◽  
M. H. M Ramli
Keyword(s):  
Lower Limb ◽  
Computer Aided Design ◽  
Equivalent Stress ◽  
Evaluation Process ◽  
Design Matrix ◽  
Stroke Patients ◽  
Element Analysis ◽  
Average Mass ◽  
Post Stroke ◽  
Lower Limb Exoskeleton

This paper presents a study on the development of a lower limb exoskeleton suit (exo-suit) for post-stroke patients. The exo-suit is designed and developed for restoration of post-stroke patients' gait motion (ability to use their lower limb joints) and analysis on ergonomics and statics are also considered. The mechanical structure of the exo-suit is proposed according to the anatomy of Asian people with an average mass of eighty kilograms in order that it is fitted perfectly. The conceptual design is established and selected by a dedicated design matrix and compared using the matrix evaluation process, and then Computer-Aided Design (CAD) software CATIA is used to create the 3D model. The design has undergone an evaluation of static structural and ergonomic analysis via CATIA and ANSYS Finite Element Analysis (FEA) software. Two materials are used in the static structural analysis, one is aluminium alloy, the other is steel material. The result of equivalent stress for both materials is within the allowable range of 29.511MPa to 1168.4 MPa. For RULA (Rapid Upper Limb Assessment) Analysis, the results showed that all three postures (static, intermittent, and repeated) yield acceptable final score which is 1 for intermittent and 2 for static and repeated postures.  

scholarly journals Low Cost Lower Limb Exoskeleton for Assisting Gait Rehabilitation

2019 ◽  
Author(s):  
Luis I. Minchala ◽  
Anthony J. Velasco ◽  
Jonathan M. Blandin ◽  
Fabian Astudillo-Salinas ◽  
Andres Vazquez-Rodas
Keyword(s):  
Lower Limb ◽  
Low Cost ◽  
Gait Rehabilitation ◽  
Lower Limb Exoskeleton
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