You probably believe that a latent relationship between the brain and lower limbs exists and it varies across different walking conditions (e.g., walking with or without an exoskeleton). Have you ever thought what the distributions of measured signals are? To address this question, we simultaneously collected electroencephalogram (EEG) and electromyogram (EMG) signals while healthy participants were conducting four overground walking conditions without any constraints (e.g., specific speed). The EEG results demonstrated that a wide range of frequencies from delta band to gamma band were involved in walking. The EEG power spectral density (PSD) was significantly different in sensorimotor and posterior parietal areas between exoskeleton-assisted walking and non-exoskeleton walking. The EMG PSD difference was predominantly observed in the theta band and the gastrocnemius lateralis muscle. EEG-EMG PSD correlations differed among walking conditions. The alpha and beta bands were primarily involved in consistently increasing EEG-EMG PSD correlations across the walking conditions, while the theta band was primarily involved in consistently decreasing correlations as observed in the EEG involvement. However, there is no dominant frequency band as observed in the EMG involvement. Channels located over the sensorimotor area were primarily involved in consistently decreasing EEG-EMG PSD correlations and the outer-ring channels were involved in the increasing EEG-EMG PSD correlations. Our study revealed the spectral and spatial distributions relevant to overground walking and deepened the understanding of EEG and EMG representations during locomotion, which may inform the development of a more human-compatible exoskeleton and its usage in motor rehabilitation.INDEX TERMS Correlation distribution, exoskeleton-assisted overground walking, electroencephalogram (EEG), electromyogram (EMG), naturalistic overground walking, power spectral density (PSD).The associate editor coordinating the review of this manuscript and approving it for publication was Zehong Cao .
Gait disorders in neurologically disabled people can be treated by various techniques available today which include passive orthoses, functional electrical stimulation (FES) and robot assisted gait training devices (RAGT). However, each system has its own drawback. For example, gait rehabilitation with orthosis is physically taxing for the patient with no significant functional improvement. FES uses muscle powers as physiological actuators to promote balance and improve gait but leads to fatigue, along with poor control of joint trajectories. RAGT devices including powered exoskeletons, gait rehabilitation systems employing programmable footplates and mobile training platforms, have shown significant advantages but the devices are not yet mature due to numerous drawbacks associated with physical and cognitive interaction, energy-management and portability issues. The combination of FES technology and RAGT devices, often named hybrid FES-robot technologies, has arisen as a promising approach to aid in gait restoration. This work reports a comprehensive review on the hybrid FES-robot technologies over the last decades, focusing on different mechanical structures, actuator designs, sensing technologies, and control approaches. The hybrid robotic structures are classified into two categories: (i) orthotic-based hybrid systems, where (a) FES is used to stimulate the muscles and produce joint torque while the robotic system acts as energy dissipating device, and (b) FES and robotic systems are both torque-generating devices; and (ii) non-orthotic based hybrid systems. The review compiles a variety of sources and illustrates the technology's most important challenges in the fields of hybrid rehabilitation robotics which may contribute towards further development of hybrid robot systems.
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. This study emphasizes on the biomechanical effects of assisted walking on the lower limb by analyzing the EMG signal, knee joint kinematics data that was collected from the right leg during the various experimental conditions. The analysis of the measured data shows an improved knee joint trajectory and reduction in muscle activity with assistance. The result of this study does not only assess the functionality of the exoskeleton but also provides a profound understanding of the human-robot interaction by studying the effects of assistance on the lower limb.
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