A 3 wire body weight support system for a large treadmill

Sabetian, Pouya; Hollerbach, John M.

doi:10.1109/icra.2017.7989062

Cited by 10 publications

(7 citation statements)

References 23 publications

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“…The conventional BWS to partially offload the user's weight generally used a single wire (Hidler et al, 2011), even for BWSOWT (Hidler et al, 2011), as displayed in Figure 2A. Since the unloading force generated by this method is very sensitive to the direction of the wire, several studies attempted to use three wires (Sabetian and Hollerbach, 2017), or four wires (Vallery et al, 2013) to improve the quality of unloading force (Figures 2B, C). However, those methods required large workspace and high cost, so are not appropriate to the approach to BWSOWT.…”

Section: Two Wire-driven Body Weight Support Mechanismmentioning

confidence: 99%

“…Most BWSs have used an overhead-type harness to provide unloading force (Koenig et al, 2009;Hidler et al, 2011;Vallery et al, 2013;Sabetian and Hollerbach, 2017), but we opted for pelvic-type harness (Figure 5A), because it is beneficial (1) to reduce the height (volume) of our BWS, and (2) to relieve the pendulum effect, due to its short distance between the acting point of the unloading force and the user's center of mass (Wyss et al, 2014).…”

Section: Pelvic-type Harnessmentioning

confidence: 99%

“…With considering the number of participants in the pilot studies of the existing systems (Hidler et al, 2011;Vallery et al, 2013;Sabetian and Hollerbach, 2017), we recruited eight healthy subjects (5 males, 3 females) for the experiments. The experiments were approved by the institutional review board (SKKU 2022-06-014), and all participants were given the details of the experiment.…”

Section: Experiments Experimental Setupmentioning

confidence: 99%

“…However, despite those advantages of the self-paced treadmill, there were few studies to develop and implement the BWSOWT using a self-paced treadmill, 3-wire (Sabetian and Hollerbach, 2017) and KineAssist-MX (Woodway, USA). However, they had some components which could be burdensome for natural gait, such as mechanical tether (3-wire) and pelvic support arm (KineAssist-MX).…”

Section: Introductionmentioning

confidence: 99%

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A robotic treadmill system to mimic overground walking training with body weight support

Kim

et al. 2023

Front. Neurorobot.

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IntroductionBody weight support overground walking training (BWSOWT) is widely used in gait rehabilitation. However, existing systems require large workspace, complex structure, and substantial installation cost for the actuator, which make those systems inappropriate for the clinical environment. For wide clinical use, the proposed system is based on a self-paced treadmill, and uses an optimized body weight support with frame-based two-wire mechanism.MethodThe Interactive treadmill was used to mimic overground walking. We opted the conventional DC motors to partially unload the body weight and modified pelvic type harness to allow natural pelvic motion. The performance of the proposed system on the measurement of anterior/posterior position, force control, and pelvic motion was evaluated with 8 healthy subjects during walking training.ResultsWe verified that the proposed system was the cost/space-effective and showed the more accurate anterior/posterior position than motion sensor, comparable force control performance, and natural pelvic motion.DiscussionThe proposed system is cost/space effective, and able to mimic overground walking training with body weight support. In future work, we will improve the force control performance and optimize the training protocol for wide clinical use.

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Section: Two Wire-driven Body Weight Support Mechanismmentioning

confidence: 99%

Section: Pelvic-type Harnessmentioning

confidence: 99%

Section: Experiments Experimental Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A robotic treadmill system to mimic overground walking training with body weight support

Kim

et al. 2023

Front. Neurorobot.

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“…Simulated tripping has been performed on a treadmill to observe recovery motion [14][15][16]. Gait speed can be controlled on a treadmill more easily than in a walking lane.…”

Section: Introductionmentioning

confidence: 99%

Effect of forward moment on recovery motion against tripping

Akiyama,

Nishizaki,

Okamoto

et al. 2024

PLoS ONE

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Investigating the fall recovery motion mechanism is crucial to prevent fall injuries. Among the various parameters of motion and posture, the forward moment can be considered the representative parameter of the magnitude of tripping from a kinematic perspective. The effect of increasing the forward moment on the recovery motion after tripping was investigated in this study. A tripping experiment was performed on a treadmill, and the recovery motion was observed. The forward moment was artificially increased using several approaches, such as pulling the torso, increasing gait speed, and increasing body mass. Factor analysis was performed to establish the relationship between the recovery motion parameters and forward moment. The distribution of the factor scores implied the uniqueness of the recovery motion of the pull condition. Although the forward moment temporarily increased, it was compensated quickly. The other conditions and factors indicated qualitative similarity of the recovery motion among the different conditions. This study demonstrates that the recovery motion after tripping is robust against an increase in forward moment, regardless of the method used to increase the forward moment. The investigation of reaction motion pattern enables validation of the recovery motion and falling posture estimation. Such fall simulations will facilitate the development of a method of fall prevention and mitigation.

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Optimal Design of Pelvic Weight Support System of Walking-Assistant Rehabilitation Robots

Chen

Zhang

2021

Lecture Notes in Electrical Engineering

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A 3 wire body weight support system for a large treadmill

Cited by 10 publications

References 23 publications

A robotic treadmill system to mimic overground walking training with body weight support

A robotic treadmill system to mimic overground walking training with body weight support

Effect of forward moment on recovery motion against tripping

Optimal Design of Pelvic Weight Support System of Walking-Assistant Rehabilitation Robots

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