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https://www.readbyqxmd.com/read/28814058/towards-an-ankle-neuroprosthesis-for-hybrid-robotics-concepts-and-current-sources-for-functional-electrical-stimulation
#1
S Casco, I Fuster, R Galeano, J C Moreno, J L Pons, F Brunetti
Hybrid rehabilitation robotics combine neuro-prosthetic devices (close-loop functional electrical stimulation systems) and traditional robotic structures and actuators to explore better therapies and promote a more efficient motor function recovery or compensation. Although hybrid robotics and ankle neuroprostheses (NPs) have been widely developed over the last years, there are just few studies on the use of NPs to electrically control both ankle flexion and extension to promote ankle recovery and improved gait patterns in paretic limbs...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814050/segmental-contributions-to-sagittal-plane-whole-body-angular-momentum-when-using-powered-compared-to-passive-ankle-foot-prostheses-on-ramps
#2
Nathaniel T Pickle, Anne K Silverman, Jason M Wilken, Nicholas P Fey
Understanding the effects of an assistive device on dynamic balance is crucial, particularly for robotic leg prostheses. Analyses of dynamic balance commonly evaluate the range of whole-body angular momentum (H). However, the contributions of individual body segments to overall H throughout gait may yield futher insights, specifically for people with transtibial amputation using powered prostheses. We evaluated segment contributions to H using Statistical Parametric Mapping to assess the effects of prosthesis type (powered vs passive) and ramp angle on segmental coordination...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814042/portable-haptic-device-for-lower-limb-amputee-gait-feedback-assessing-static-and-dynamic-perceptibility
#3
M A B Husman, H F Maqbool, M I Awad, A A Dehghani-Sanij
Loss of joints and severed sensory pathway cause reduced mobility capabilities in lower limb amputees. Although prosthetic devices attempt to restore normal mobility functions, lack of awareness and control of limb placement increase the risk of falling and causing amputee to have high level of visual dependency. Haptic feedback can serve as a cue for gait events during ambulation thus providing sense of awareness of the limb position. This paper presents a wireless wearable skin stretch haptic device to be fitted around the thigh region...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814039/evaluating-wearable-multimodal-sensor-insoles-for-motion-pattern-measurements-in-stroke-rehabilitation-a-pilot-study
#4
V David, M Forjan, J Martinek, S Kotzian, H Jagos, D Rafolt
The majority of stroke patients experience deficits in motoric functions, especially in gait and mobility. They need rehabilitation to regain walking independence, which is a major goal of rehabilitation after stroke. To document and assess the rehabilitation progress, instrumented motion analysis and clinical assessments are commonly used. In a clinical pilot study the applicability of an instrumented insole system in stroke rehabilitation is evaluated. Motion parameter of 35 stroke patients were gathered with the system while completing 90 s level walking and Timed Up & Go test at the beginning and end of four weeks inpatient rehabilitation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814020/piecewise-and-unified-phase-variables-in-the-control-of-a-powered-prosthetic-leg
#5
Dario J Villarreal, David Quintero, Robert D Gregg
Many control methods have been proposed for powered prosthetic legs, ranging from finite state machines that switch between discrete phases of gait to unified controllers that have a continuous sense of phase. In particular, recent work has shown that a mechanical phase variable can parameterize the entire gait cycle for controlling a prosthetic leg during steady rhythmic locomotion. However, the unified approach does not provide voluntary control over non-rhythmic motions like stepping forward and back. In this paper we present a phasing algorithm that uses the amputee's hip angle to control both rhythmic and non-rhythmic motion through two modes: 1) a piecewise (PW) function that provides users voluntary control over stance and swing in a piecewise manner, and 2) a unified function that continuously synchronizes the motion of the prosthetic leg with the amputee user at different walking speeds...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813978/evaluation-of-3d-printed-anatomically-scalable-transfemoral-prosthetic-knee
#6
Tyagi Ramakrishnan, Millicent Schlafly, Kyle B Reed
This case study compares a transfemoral amputee's gait while using the existing Ossur Total Knee 2000 and our novel 3D printed anatomically scalable transfemoral prosthetic knee. The anatomically scalable transfemoral prosthetic knee is 3D printed out of a carbon-fiber and nylon composite that has a gear-mesh coupling with a hard-stop weight-actuated locking mechanism aided by a cross-linked four-bar spring mechanism. This design can be scaled using anatomical dimensions of a human femur and tibia to have a unique fit for each user...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813975/a-lightweight-robotic-ankle-prosthesis-with-non-backdrivable-cam-based-transmission
#7
Tommaso Lenzi, Marco Cempini, Jeremy Newkirk, Levi J Hargrove, Todd A Kuiken
Below-knee level amputation significantly impacts the ability of an individual to ambulate. Transtibial amputees are typically prescribed energetically passive ankle-foot prostheses that behave as a spring or controlled damper, and therefore cannot fully replace the function of the missing limb. More recently, fully-powered devices have been proposed to more closely match the power generation ability of intact limbs. However, these fully-powered devices are significantly heavier than passive devices, thus increasing the stress on the socket-residual limb interface...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813864/gait-assessment-system-based-on-novel-gait-variability-measures
#8
Xingchen Wang, Danijela Ristic-Durrant, Matthias Spranger, Axel Graser
In this paper, a novel gait assessment system based on measures of gait variability reflected through the variability of shapes of gait cycles trajectories is proposed. The presented gait assessment system is based on SVM (support vector machine) classifier and on gait variability-based features calculated from the hip and knee joint angle trajectories recorded using wearable IMUs during walking trials. A system classifier was trained to distinguish healthy gait patterns from the pathological ones. The features were extracted by calculating the distances between the joint trajectories of the individual gait cycles using 4 different distance functions...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813859/an-assistive-lower-limb-exoskeleton-for-people-with-neurological-gait-disorders
#9
A Ortlieb, M Bouri, R Baud, H Bleuler
Lower limb exoskeletons have already proven the capability to give back mobility to people suffering from spinal cord injury (SCI). Other important populations such as people with multiple sclerosis or muscular dystrophy, frail elderly and stroke victims, suffer from severe gait impairments and could benefit from similar technology. The work presented in the current paper describes a novel design of a 6-actuated degrees of freedom (DOFs) assistive lower limb exoskeleton for people with moderate mobility impairments...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813857/kinematic-effects-of-inertia-and-friction-added-by-a-robotic-knee-exoskeleton-after-prolonged-walking
#10
C Shirota, M R Tucker, O Lambercy, R Gassert
The capabilities of robotic gait assistive devices are ever increasing; however, their adoption outside of the lab is still limited. A critical barrier for the functionality of these devices are the still unknown mechanical properties of the human leg during dynamic conditions such as walking. We built a robotic knee exoskeleton to address this problem. Here, we present the effects of our device on the walking pattern of four subjects. We assessed the effects after a short period of acclimation as well as after a 1...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813854/automated-stand-up-and-sit-down-detection-for-robot-assisted-body-weight-support-training-with-the-float
#11
Mathias Bannwart, Dominique Emst, Chris Easthope, Marc Bolliger, Georg Rauter
Patients with impaired walking function are often dependent on assistive devices to retrain gait and regain independence in life. To provide adequate support, gait rehabilitation devices have to be manually set to the correct support mode or have to recognize the type and starting point of a certain motion automatically. For automated motion type detection, machine learning-based classification algorithms using sensor signals from different body parts can achieve robust performance. However, until today, there is only little work available to detect motion onset...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813853/towards-human-knee-orthosis-interaction-based-on-adaptive-impedance-control-through-stiffness-adjustment
#12
Joana Figueiredo, Paulo Felix, Cristina P Santos, Juan C Moreno
Rehabilitation interventions involving powered, wearable lower limb orthoses that can provide high-challenging locomotor tasks for repetitive training sessions, mainly when assist-as-needed strategies, such as adaptive impedance control, are designed. In this study, the adaptive behavior was ensured by software control of the robotic stiffness involved in the human-knee orthosis interaction in function of the gait cycle and speed. To estimate the stiffness, we analyzed the interaction torque-angle characteristics with experimental data...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813851/lokomat-therapy-in-colombia-current-state-and-cognitive-aspects
#13
Marcela Munera, Alexandra Marroquin, Laura Jimenez, Juan S Lara, Catalina Gomez, Sandra Rodriguez, Luis E Rodriguez, Carlos A Cifuentes
Neurological disorders frequently affect walking function which is one of the most fundamental skills to improve quality of life and autonomy, and Lokomat has been a key piece for gait's rehabilitation. In this study, a diagnosis about the development of the Robot-assisted therapy rehabilitation with Lokomat in Colombia is made. The study was performed by collecting some anthropometric and demographic data of the patients that use Lokomat, followed by a survey of cognitive aspects. With the purpose to compare the current state of the robotic therapies it was found that in Colombia the benefits of this treatment have not being fully exploited...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813849/effects-of-partial-body-weight-support-and-functional-electrical-stimulation-on-gait-characteristics-during-treadmill-locomotion-pros-and-cons-of-saddle-seat-type-body-weight-support
#14
Natsumi Kataoka, Hiroaki Hirai, Taya Hamilton, Fumiaki Yoshikawa, Akira Kuroiwa, Yuma Nagakawa, Eichi Watanabe, Yudai Ninomaru, Yuri Saeki, Mitsunori Uemura, Fumio Miyazaki, Hiroshi Nakata, Tomoki Nishi, Hiroaki Naritomi, Hermano Igo Krebs
Robotic therapy for rehabilitation of the lower extremity is currently in its early stage of development. Aiming at exploring an efficacious intervention for gait rehabilitation, we investigate the characteristics of an end-effector gait-training device that combines saddle-seat-type body-weight-supported treadmill training with functional electrical stimulation (FES). This is a task-oriented approach to restoring voluntary control of locomotion in patients with neuromuscular diseases. We evaluate the differences between walking with saddle-seat-type support and with harness-type support, in terms of personal preference, the preferred walking speed, profiles of kinematics and ground reaction force, and the effectiveness of FES...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813843/addition-of-forelimb-training-reduces-gains-from-robotic-gait-training-in-a-rat-model-of-spinal-cord-injury
#15
Nathan D Neckel, Haining Dai, Olga C Rodriguez
To restore locomotor function following spinal cord injury the disrupted descending supraspinal drive needs to be re-connected to regions caudal to the injury. Robotic gait training aims to facilitate recovery by stimulating the proprioceptive networks of the legs in a coordinated walking pattern while the descending supraspinal connections are re-established. In incomplete injuries, it is believed that the interneuronal networks near the injury site form relay circuits to reroute the supraspinal signals through the spared tissue...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813833/an-integrated-gait-rehabilitation-training-based-on-functional-electrical-stimulation-cycling-and-overground-robotic-exoskeleton-in-complete-spinal-cord-injury-patients-preliminary-results
#16
S Mazzoleni, E Battini, A Rustici, G Stampacchia
The aim of this study is to investigate the effects of an integrated gait rehabilitation training based on Functional Electrical Stimulation (FES)-cycling and overground robotic exoskeleton in a group of seven complete spinal cord injury patients on spasticity and patient-robot interaction. They underwent a robot-assisted rehabilitation training based on two phases: n=20 sessions of FES-cycling followed by n= 20 sessions of robot-assisted gait training based on an overground robotic exoskeleton. The following clinical outcome measures were used: Modified Ashworth Scale (MAS), Numerical Rating Scale (NRS) on spasticity, Penn Spasm Frequency Scale (PSFS), Spinal Cord Independence Measure Scale (SCIM), NRS on pain and International Spinal Cord Injury Pain Data Set (ISCI)...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813831/the-influence-of-the-re-link-trainer-on-gait-symmetry-in-healthy-adults
#17
Sarah Ward, Lukas Wiedemann, Cathy Stinear, James Stinear, Andrew McDaid
Walking function post-stroke is characterized by asymmetries in gait cycle parameters and joint kinematics. The Re-Link Trainer is designed to provide kinematic constraint to the paretic lower limb, to guide a physiologically normal and symmetrical gait pattern. The purpose of this pilot study was to assess the immediate influence of the Re-Link Trainer on measures of gait symmetry in healthy adults. Participants demonstrated a significantly lower cadence and a 62% reduction in walking speed in the Re-Link Trainer compared to normal walking...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813830/toward-goal-oriented-robotic-gait-training-the-effect-of-gait-speed-and-stride-length-on-lower-extremity-joint-torques
#18
Robert L McGrath, Margaret Pires-Fernandes, Brian Knarr, Jill S Higginson, Fabrizio Sergi
Robot-assisted gait training is becoming increasingly common to support recovery of walking function after neurological injury. How to formulate controllers capable of promoting desired features in gait, i.e. goals, is complicated by the limited understanding of the human response to robotic input. A possible method to formulate controllers for goal-oriented gait training is based on the analysis of the joint torques applied by healthy subjects to modulate such goals. The objective of this work is to understand how sagittal plane joint torque is affected by two important gait parameters: gait speed (GS) and stride length (SL)...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813827/biomechanical-effects-of-robot-assisted-walking-on-knee-joint-kinematics-and-muscle-activation-pattern
#19
Pavithra Thangavel, S Vidhya, Junhua Li, Effie Chew, Anastasios Bezerianos, Haoyong Yu
Since manual rehabilitation therapy can be taxing for both the patient and the physiotherapist, a gait rehabilitation robot has been built to reduce the physical strain and increase the efficacy of the rehabilitation therapy. The prototype of the gait rehabilitation robot is designed to provide assistance while walking for patients with abnormal gait pattern and it can also be used for rehabilitation therapy to restore an individual's normal gait pattern by aiding motor recovery. The Gait Rehabilitation Robot uses gait event based synchronization, which enables the exoskeleton to provide synchronous assistance during walking that aims to reduce the lower-limb muscle activation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813826/autonomous-hip-exoskeleton-saves-metabolic-cost-of-walking-uphill
#20
Keehong Seo, Jusuk Lee, Young Jin Park
We have developed a hip joint exoskeleton to boost gait function in the elderly and rehabilitation of post-stroke patients. To quantitatively evaluate the impact of the power and mass of the exoskeleton, we measured the metabolic cost of walking on slopes of 0, 5, and 10% grade, once not wearing the exoskeleton and then wearing it. The exoskeleton reduced the metabolic cost by 13.5,15.5 and 9.8% (31.9, 51.6 and 45.6 W) at 0, 5, and 10% grade, respectively. The exoskeleton performance index was computed as 0...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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