Robotic orthoses for gait rehabilitation: An overview of mechanical design and control strategies

2020 ◽  
Vol 234 (5) ◽  
pp. 444-457
Author(s):  
Prashant K Jamwal ◽  
Shahid Hussain ◽  
Mergen H Ghayesh
Keyword(s):  
Spinal Cord Injuries ◽  
Mechanical Design ◽  
Control Strategies ◽  
Gait Training ◽  
Experimental Investigations ◽  
Gait Rehabilitation ◽  
Rehabilitation Devices ◽  
Robotic Gait ◽  
Robotic Devices ◽  
And Control

The application of robotic devices in providing physiotherapies to post-stroke patients and people suffering from incomplete spinal cord injuries is rapidly expanding. It is crucial to provide valid rehabilitation for people who are experiencing abnormality in their gait performance; therefore, design and development of newer robotic devices for the purpose of facilitating patients’ recovery is being actively researched. In order to advance the traditional gait treatment among patients, exoskeletons and orthoses were introduced over the last two decades. This article presents a thorough review of existing robotic gait rehabilitation devices. The latest advancements in the mechanical design, types of control and actuation are also covered. The study comprehends discussions on robotic rehabilitation devices developed both for the training on treadmill and over-ground training. The assist-as-needed strategy for the gait training is particularly emphasized while reviewing various control strategies applied to these robotic devices. This study further reviews experimental investigations and clinical assessments of different control strategies and mechanism designs of robotic gait rehabilitation devices using experimental and clinical trials.

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

2017 ◽  
Vol 231 (12) ◽  
pp. 1224-1234 ◽  
Author(s):  
Shahid Hussain ◽  
Prashant K Jamwal ◽  
Mergen H Ghayesh
Keyword(s):  
Physical Therapy ◽  
Spinal Cord Injuries ◽  
State Of The Art ◽  
Control Strategies ◽  
Drop Foot ◽  
Ankle Rehabilitation ◽  
Recent Developments ◽  
Rehabilitation Devices ◽  
Robotic Devices ◽  
And Control

There is an increasing research interest in exploring use of robotic devices for the physical therapy of patients suffering from stroke and spinal cord injuries. Rehabilitation of patients suffering from ankle joint dysfunctions such as drop foot is vital and therefore has called for the development of newer robotic devices. Several robotic orthoses and parallel ankle robots have been developed during the last two decades to augment the conventional ankle physical therapy of patients. A comprehensive review of these robotic ankle rehabilitation devices is presented in this article. Recent developments in the mechanism design, actuation and control are discussed. The study encompasses robotic devices for treadmill and over-ground training as well as platform-based parallel ankle robots. Control strategies for these robotic devices are deliberated in detail with an emphasis on the assist-as-needed training strategies. Experimental evaluations of the mechanism designs and various control strategies of these robotic ankle rehabilitation devices are also presented.

scholarly journals Gait Rehabilitation Device in Central Nervous System Disease: A Review

2011 ◽  
Vol 2011 ◽  
pp. 1-14 ◽  
Author(s):  
Kazuya Kubo ◽  
Takanori Miyoshi ◽  
Akira Kanai ◽  
Kazuhiko Terashima
Keyword(s):  
Central Nervous System ◽  
Nervous System ◽  
Central Nervous System Disease ◽  
Gait Training ◽  
Lower Limbs ◽  
Nervous System Disease ◽  
Gait Rehabilitation ◽  
System Disease ◽  
Physical Burden ◽  
Rehabilitation Devices

Central nervous system diseases cause the gait disorder. Early rehabilitation of a patient with central nervous system disease is shown to be benefit. However, early gait training is difficult because of muscular weakness and those elderly patients who lose of leg muscular power. In the patient's walking training, therapists assist the movement of patient's lower limbs and control the movement of patient's lower limbs. However the assistance for the movement of the lower limbs is a serious hard labor for therapists. Therefore, research into and development of various gait rehabilitation devices is currently underway to identify methods to alleviate the physical burden on therapists. In this paper, we introduced the about gait rehabilitation devices in central nervous system disease.

OP43 Robotic Or Conventional Gait Training Rehabilitation? A Health Technology Assessment Study

2018 ◽  
Vol 34 (S1) ◽  
pp. 16-17
Author(s):  
Martina Andellini ◽  
Francesco Faggiano ◽  
Roxana di Mauro ◽  
Pietro Derrico ◽  
Matteo Ritrovato
Keyword(s):  
Health Technology Assessment ◽  
Technology Assessment ◽  
Conventional Therapy ◽  
Health Technology ◽  
Gait Training ◽  
Core Model ◽  
Gait Rehabilitation ◽  
Alternative Technologies ◽  
Movement Trajectories ◽  
Robotic Gait

Introduction:The purpose of this study is to gather evidence on safety and overall effectiveness of three alternative technologies for gait rehabilitation in diplegic children with Cerebral Palsy: robotic, conventional and joint conventional and robotic gait training.Methods:A new methodology, decision-oriented health technology assessment (DoHTA), was applied to assess the technology on clinical, technical, organizational, economic, social and ethical, legal and safety domains. This method, conceived as a hospital-based HTA tool for supporting the introduction of innovative technologies, has been implemented merging the EUnetHTA Core Model® with the Multi-Criteria Decision Analysis. In particular, the general items of the EUnetHTA Core Model® are re-formulated as performance indicators and re-placed along a decision tree structure that, from the one hand, respects the original top-down design of the EUnetHTA model (growing level of detail from domains to issues) and, from the other hand, allows obtaining a quantitative evaluation of each identified performance indicator.Results:The multiple indicators, which have been identified for the seven domains, play important and different roles in the alternative technologies evaluation. DoHTA results showed that robotic system offers the possibility to control more accurately the exerted forces and movement trajectories than the traditional therapy. It gives the possibility to measure the task performances parameters and to receive the patient feedback simultaneously. To carry out robotic gait rehabilitation fewer therapists are required compared with the conventional therapy, resulting in lower therapists’ physical workload.Conclusions:Despite the great perspectives that robotics offer to motor rehabilitation, it seems that robotic gait training could not provide greater benefits in terms of motor and functional recovery compared to the conventional therapy. Preliminary results, supported by most recent literature evidence, lead to the hypothesis that joint use of robotic and conventional therapy can produce better clinical outcomes than the separate use of the two rehabilitation techniques.

scholarly journals The Effect of Pelvic Movements of a Gait Training System for Stroke Patients

2021 ◽  
Author(s):  
Choonghyun Son ◽  
Anna Lee ◽  
Junkyung Lee ◽  
DaeEun Kim ◽  
Seung-Jong Kim ◽  
...  
Keyword(s):  
Stance Phase ◽  
Gait Training ◽  
Training System ◽  
Transverse Plane ◽  
Gait Rehabilitation ◽  
Stroke Patients ◽  
Interaction Forces ◽  
Flexion Extension ◽  
Pelvic Movement ◽  
Robotic Gait

Abstract Background: Aging societies lead to higher demand for gait rehabilitation as age-related neurological disorders such as stroke increase. Since conventional methods for gait rehabilitation are physically and economically burdensome, robotic gait training systems have been studied and commercialized, many of which provided movements confined in the sagittal plane. For better outcomes of gait rehabilitation with more natural gait patterns, however, it is desirable to provide pelvic movements in the transverse plane. In this study, a robotic gait training system capable of pelvic motions in the transverse plane was used to evaluated the effect of the pelvic motions on stroke patients. Method: Healbot T, which is a robotic gait training system and capable of providing pelvic movements in the transverse plane as well as flexion/extension of the hip and knee joints and adduction/abduction of the hip joints, is introduced and used to evaluate the effect of the pelvic movement on gait training of stroke patients.Experiment: 23 stroke patients with hemiparesis participated in this study and were assigned into two groups. Pelvis-on group was provided with pelvic motions whereas no pelvic movement was allowed for pelvis-off group during 10 sessions of gait trainings in Healbot T. EMG signals and interaction forces as well as the joint angles of the robot were measured. Gait parameters such as stride length, gait period, cadence, and walking speed were measured after gait training. Result: 37.5 % lower interaction forces of pelvis were observed in the pelvis-on group than the pelvis-off group. Furthermore, the interaction forces at the thighs and calves of both groups showed significant decrease. The EMG signals of gluteus medius of the pelvis-on group increased by 77.2 %. Furthermore, statistically significant increases in various muscles were measured in the pelvis-on group during the stance phase. Conclusion: Gait training using a robotic gait training system with pelvic movements was conducted to study the effects of lateral and rotational pelvic movements in gait training of stroke patients. The pelvic movements made gait training less interfered by the exoskeleton while stimulating the voluntary muscle activation during the stance phase. Clinical trial registration: KCT0003762, 2018-1254, Registered 28 October 2018, https://cris.nih.go.kr/cris/search/search_result_st01_kren.jsp?seq=14310

scholarly journals Exoskeleton Technology in Rehabilitation: Towards an EMG-Based Orthosis System for Upper Limb Neuromotor Rehabilitation

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Luis Manuel Vaca Benitez ◽  
Marc Tabie ◽  
Niels Will ◽  
Steffen Schmidt ◽  
Mathias Jordan ◽  
...  
Keyword(s):  
Upper Limb ◽  
Cooperative Control ◽  
Mechanical Design ◽  
Control Strategies ◽  
Neuromuscular Diseases ◽  
Sensor Data ◽  
Daily Life Activities ◽  
Control Scheme ◽  
Assistive Systems ◽  
And Control

The rehabilitation of patients should not only be limited to the first phases during intense hospital care but also support and therapy should be guaranteed in later stages, especially during daily life activities if the patient’s state requires this. However, aid should only be given to the patient if needed and as much as it is required. To allow this, automatic self-initiated movement support and patient-cooperative control strategies have to be developed and integrated into assistive systems. In this work, we first give an overview of different kinds of neuromuscular diseases, review different forms of therapy, and explain possible fields of rehabilitation and benefits of robotic aided rehabilitation. Next, the mechanical design and control scheme of an upper limb orthosis for rehabilitation are presented. Two control models for the orthosis are explained which compute the triggering function and the level of assistance provided by the device. As input to the model fused sensor data from the orthosis and physiology data in terms of electromyography (EMG) signals are used.

Passive and Active Control Strategies of a Leg Rehabilitation Exoskeleton Powered by Pneumatic Artificial Muscles

2017 ◽  
Vol 31 (10) ◽  
pp. 1759021 ◽  
Author(s):  
Chen Su ◽  
Ao Chai ◽  
Xikai Tu ◽  
Hongyu Zhou ◽  
Haiqiang Wang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Sliding Mode ◽  
Control Strategies ◽  
Low Cost ◽  
Gait Training ◽  
Interaction Force ◽  
Gait Rehabilitation ◽  
Artificial Muscles ◽  
Model Free ◽  
Pneumatic Artificial Muscles

Nerve injury can cause lower limb paralysis and gait disorder. Currently lower limb rehabilitation exoskeleton robots used in the hospitals need more power to correct abnormal motor patterns of stroke patients’ legs. These gait rehabilitation robots are powered by cumbersome and bulky electric motors, which provides a poor user experience. A newly developed gait rehabilitation exoskeleton robot actuated by low-cost and lightweight pneumatic artificial muscles (PAMs) is presented in this research. A model-free proxy-based sliding mode control (PSMC) strategy and a model-based chattering mitigation robust variable control (CRVC) strategy were developed and first applied in rehabilitation trainings, respectively. As the dynamic response of PAM due to the compressed air is low, an innovative intention identification control strategy was taken in active trainings by the use of the subject’s intention indirectly through the estimation of the interaction force between the subject’s leg and the exoskeleton. The proposed intention identification strategy was verified by treadmill-based gait training experiments.

Fuzzy control of nitrogen removal in predenitrification process using ORP

2005 ◽  
Vol 52 (12) ◽  
pp. 161-169 ◽  
Author(s):  
Y. Peng ◽  
Y. Ma ◽  
S. Wang ◽  
X. Wang
Keyword(s):  
Fuzzy Control ◽  
Control Strategies ◽  
Integrated Control ◽  
Experimental Investigations ◽  
Carbon Addition ◽  
Effluent Quality ◽  
Optimal Value ◽  
On Line ◽  
New Applications ◽  
And Control

In order to meet increasingly stringent discharge standards, new applications and control strategies for the sustainable removal of nitrogen from wastewater have to be implemented. In the past years, numerous studies have been carried out dealing with the application of fuzzy logic to improve the control of the activated sludge process. In this paper, fuzzy control strategies of predenitrification systems are presented that could lead to better effluent quality and, in parallel, to a reduction of chemicals consumption. Extensive experimental investigations on lab scale plant studies have shown that there was excellent correlation between nitrate concentration and ORP value at the end of the anoxic zone. Results indicated that ORP could be used as an on-line fuzzy control parameter of nitrate recirculation and external carbon addition. The optimal value of ORP to control nitrate recirculation and external carbon addition was −86±2mV and −90±2mV, respectively. The results obtained with real wastewater also showed the good performance and stability of the fuzzy controllers independently from external disturbances. The integrated control structure of nitrate recirculation and external carbon addition in the predenitrification system is also presented.

Gait Rehabilitation With an Active Leg Orthosis

2005 ◽  
Author(s):  
Sai K. Banala ◽  
Sunil K. Agrawal
Keyword(s):  
Control Strategies ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Robust Controller ◽  
And Control

In this paper, we discuss the design and control strategies for an active gait rehabilitation device for the lower extrmity. This device uses gravity balancing to reduce the net torque required by the actuators during motion. Two controllers are proposed in this paper. The first uses a robust controller and the second uses a torque assisting control law. Simulations of these controllers are presented in this paper. Experiments are currently being conducted with this orthosis on healthy and stroke subjects.

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