Motion control and coordination in the development of a conceptual gait rehabilitation system

A conceptual gait rehabilitation system was developed to generate the coordinated motion of the hip and knee joints according to normal physiological gait pattern with a pair of linkage mechanisms (one for each leg). This article presents the design of a mechanical timing mechanism for the motion control and coordination of the linkage mechanisms in the system. The desired motion of the input crank of the linkage mechanism is first obtained for the control purpose. To facilitate the implementation of different modes of operation of the gait rehabilitation system, a combination of cam and planetary gears is developed to achieve both timing and coordination through mechanical means. Motion simulation of the new timing mechanisms shows that the proper timing of the gait mechanisms, thus the hip and knee joints, is achieved with a constant speed input.

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Study and implementation of a gait rehabilitation system with capability for mobility and gait pattern generation

10.32657/10356/49512 ◽

2012 ◽

Author(s):

Hup Boon Lim

Keyword(s):

Gait Pattern ◽

Pattern Generation ◽

Gait Rehabilitation ◽

Rehabilitation System

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Gait pattern generation for robotic gait rehabilitation system on treadmill

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) ◽

10.1109/iccas.2014.6987939 ◽

2014 ◽

Cited By ~ 1

Author(s):

Kap-Ho Seo ◽

Yongsik Park ◽

Sungjo Yun ◽

Sungho Park ◽

Kwang-Woo Jeon ◽

...

Keyword(s):

Gait Pattern ◽

Pattern Generation ◽

Gait Rehabilitation ◽

Rehabilitation System ◽

Robotic Gait

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Design, Analysis, and Optimization of an Acute Stroke Gait Rehabilitation Device

Journal of Medical Devices ◽

10.1115/1.4035127 ◽

2016 ◽

Vol 11 (1) ◽

Cited By ~ 10

Author(s):

Kazuto Kora ◽

James Stinear ◽

Andrew McDaid

Keyword(s):

Early Stage ◽

Gait Training ◽

Gait Pattern ◽

Gait Rehabilitation ◽

Linkage Mechanism ◽

Robot Assisted ◽

Frame Design ◽

Hospitalization Costs ◽

Optical Motion ◽

Four Bar Linkage

Stroke is one of the leading causes of adult physical disability, and rehabilitation and hospitalization costs for stroke are among the highest for all injuries. Current rehabilitation techniques are labor intensive and time consuming for therapists and difficult to perform effectively. Research suggests that starting rehabilitation during the acute or subacute stage of recovery results in better outcomes than therapy delivered in the chronic stage. To improve the gait rehabilitation process, robot-assisted gait rehabilitation has gained much interest over the past years. However, many robot-assisted rehabilitation devices have limitations; one of which is being bulky and complex to handle. Large and expensive devices that require special training to operate are less attractive to clinics and therapists, and ultimately less likely to be available to patients especially at the early stage of stroke. To address these limitations, this research proposes a new gait rehabilitation device called the linkage design gait trainer (LGT). The device is based on a walking frame design with a simple four-bar linkage “end-effector” mechanism to generate normal gait trajectories during general walking and exercise. The design of the four-bar linkage mechanism was optimized for a particular gait pattern. A prototype of the device was developed and tested. The kinematics of the device itself and gait kinematics with and without assistance from the device were recorded and analyzed using an optical motion capture system. The results show the linkage mechanism is able to guide the leg of the user during over ground walking. There were some differences in the hip (20.5 deg RMS) and knee (14.8 deg RMS) trajectory between the person walking with and without the device assistance. The study demonstrated the concept and feasibility of this novel gait training device.

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Gait Rehabilitation System based on Mixed Reality

2021 Telecoms Conference (ConfTELE) ◽

10.1109/conftele50222.2021.9435458 ◽

2021 ◽

Author(s):

Teresa Vilar Paredes ◽

Octavian Postolache ◽

Joao Monge ◽

Pedro Silva Girao

Keyword(s):

Mixed Reality ◽

Gait Rehabilitation ◽

Rehabilitation System

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MODIFICATION IN FOOT PRESSURE AND GAIT PATTERN AFTER ARTHROSCOPIC CARTILAGE REGENERATION FACILITATING PROCEDURES (ACRFP) IN PATIENTS WITH OSTEOARTHRITIS OF KNEE

Journal of Mechanics in Medicine and Biology ◽

10.1142/s0219519419400268 ◽

2019 ◽

Vol 19 (02) ◽

pp. 1940026

Author(s):

TSUNG-CHIAO WU ◽

CHUAN-HSIN YEN ◽

SHAW-RUEY LYU ◽

SHUO-SUEI HUNG

Keyword(s):

Knee Injury ◽

Cartilage Regeneration ◽

Gait Pattern ◽

Knee Joints ◽

Knee Adduction Moment ◽

Control Group ◽

Lateral Side ◽

Foot Pressure ◽

Chronic Knee Pain ◽

Gait Parameters

Arthroscopic cartilage regeneration facilitating procedure (ACRFP) has been reported with satisfactory results, yet there is limited research on the biomechanics in these patients. The purpose of this study is to assess the change on the biomechanics after ACRFP, in terms of foot pressure and gait pattern. Patients with chronic knee pain due to osteoarthritis and received ACRFP were recruited, and the knee joints in each patient were divided into either study or control group according to radiographical or symptomatic severity. Assessments were done with Knee injury and Osteoarthritis Outcome Score (KOOS) and dynamic foot pressure at the time before surgery, three months and six months postoperatively. A total of 24 patients completed the study. Significant improvement was found of KOOS, at both three and six months postoperatively. No much change in the gait parameters was noted, but there was a significant decrease of foot pressure over lateral side of hindfoot at six months postoperatively. In conclusion, significant clinical improvements could be achieved with surgical results of ACRFP, and shifting of the foot pressure medially may be related to decrease in the knee adduction moment, which is more favorable for the knee joints.

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Quantitative Effects of Repeated Muscle Vibrations on Gait Pattern in a 5-Year-Old Child with Cerebral Palsy

Case Reports in Medicine ◽

10.1155/2011/359126 ◽

2011 ◽

Vol 2011 ◽

pp. 1-5 ◽

Cited By ~ 3

Author(s):

Filippo Camerota ◽

Manuela Galli ◽

Claudia Celletti ◽

Sara Vimercati ◽

Veronica Cimolin ◽

...

Keyword(s):

Cerebral Palsy ◽

Pelvic Tilt ◽

Step Length ◽

Gait Pattern ◽

Triceps Surae ◽

Knee Joints ◽

Global Improvement ◽

Positive Effects ◽

Effective Option ◽

Spatio Temporal

Objective. To investigate quantitatively and objectively the effects of repeated muscle vibration (rMV) of triceps surae on the gait pattern in a 5-year-old patient with Cerebral Palsy with equinus foot deformity due to calf spasticity.Methods. The patient was assessed before and one month after the rMV treatment using Gait Analysis.Results. rMV had positive effects on the patient's gait pattern, as for spatio-temporal parameters (the stance duration and the step length increased their values after the treatment) and kinematics. The pelvic tilt reduced its anteversion and the hip reduced the high flexion evidenced at baseline; the knee and the ankle gained a more physiological pattern bilaterally. The Gillette Gait Index showed a significant reduction of its value bilaterally, representing a global improvement of the child's gait pattern.Conclusions. The rMV technique seems to be an effective option for the gait pattern improvement in CP, which can be used also in very young patient. Significant improvements were displayed in terms of kinematics at all lower limb joints, not only at the joint directly involved by the treatment (i.e., ankle and knee joints) but also at proximal joints (i.e., pelvis and hip joint).

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