A task oriented haptic gait rehabilitation robot

Chisholm, Kyle; Klumper, K.; Mullins, Alexandra; Ahmadi, Mojtaba

doi:10.1016/j.mechatronics.2014.07.001

Cited by 41 publications

(22 citation statements)

References 34 publications

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“…Authors in Bharadwaj et al (2005) and Bharadwaj and Sugar (2006) also emphasized repetitive task training as an effective form of rehabilitation for people suffering from stroke and presented an ankle rehabilitation method based on a tripod mechanism which moves the ankle in dorsiflexion/plantarflexion and inversion/eversion. Some implementations for the seated position were presented in Bouri et al (2009) andChisholm et al (2014) and then for the standing position through a deambulator mechanically interfaced with the verticalized orthoses . Many methods use velocity or moment control or an idea of feedback control of joint trajectories through modulated friction brakes , which are used in conjunction with electrical stimulation.…”

Section: Error Correction Via Physical Interactionmentioning

confidence: 99%

A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation

2020

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Stroke affects one out of every six people on Earth. Approximately 90% of stroke survivors have some functional disability with mobility being a major impairment, which not only affects important daily activities but also increases the likelihood of falling. Originally intended to supplement traditional post-stroke gait rehabilitation, robotic systems have gained remarkable attention in recent years as a tool to decrease the strain on physical therapists while increasing the precision and repeatability of the therapy. While some of the current methods for robot-assisted rehabilitation have had many positive and promising outcomes, there is moderate evidence of improvement in walking and motor recovery using robotic devices compared to traditional practice. In order to better understand how and where robot-assisted rehabilitation has been effective, it is imperative to identify the main schools of thought that have prevailed. This review intends to observe those perspectives through three different lenses: the goal and type of interaction, the physical implementation, and the sensorimotor pathways targeted by robotic devices. The ways that researchers approach the problem of restoring gait function are grouped together in an intuitive way. Seeing robot-assisted rehabilitation in this unique light can naturally provoke the development of new directions to potentially fill the current research gaps and eventually discover more effective ways to provide therapy. In particular, the idea of utilizing the human inter-limb coordination mechanisms is brought up as an especially promising area for rehabilitation and is extensively discussed.

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Section: Error Correction Via Physical Interactionmentioning

confidence: 99%

A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation

2020

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“…With new applications ranging from automated rehabilitation [1] to cooperative human-robot manufacturing [2], robots are increasingly being called upon to interact with people in unstructured environments. Physical human-robot interaction (pHRI) poses inherent risks and requires measures to ensure user safety.…”

Section: Extended Abstractmentioning

confidence: 99%

On the Use of Force Control with Compliant Sensing for Robot Safety

Miyata¹,

Ahmadi²

2016

Proceedings of the 3rd International Conference of Control, Dynamic Systems, and Robotics (CDSR'16)

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Extended AbstractWith new applications ranging from automated rehabilitation [1] to cooperative human-robot manufacturing [2], robots are increasingly being called upon to interact with people in unstructured environments. Physical human-robot interaction (pHRI) poses inherent risks and requires measures to ensure user safety. Previous approaches to robot safety employed collision detection and reaction using lightweight robots with compliant actuation; however, such approaches limit the performance of the robot [3]. The collision detection and reaction with compliant tactile sensors and zero force control offers the potential to ensure safety without affecting robot performance or requiring robot redesign.In implementing force control with compliant sensors, the direct feedback of sensor deformation into a position controller has been employed in industrial settings and shown to improve transient response over standard force control [4]. The current work seeks to investigate the use of zero force control with deformation feedback in the application of robot safety. Deformation feedback for zero force control with compliant sensors does not require an accurate model of the sensor compliance, allowing foam or other materials with nonlinear behaviour to be incorporated in the sensor, such as the sensor in [5].To gain insight into the behaviour of a deformation feedback force controller for use in robot safety, a single degree of freedom, linear robot with a PD controller is analysed. The compliant sensor is modelled as a mass spring damper, allowing the effect of friction on the stability and performance of the controller to be analysed. The stability of the controller is analysed for both the case of interacting with a passive environment and the isolated system. Without contact with the environment, the controller is found to be stable for all positive controller gains. In analysing the stability of the isolated system, it is found that initial deformation of the sensor will result in steady state motion of the robot. Steady state motion of the robot can result in secondary collisions with the environment and so the motion must be minimized. When interacting with a passive environment, stability can be guaranteed by ensuring the robot is passive with respect to the interaction with the environment. For the given system, conditions on the controller gains are derived to ensure passivity of the system and stability during interaction. The stability conditions take the form of restrictions on the maximum proportional gain as a function of the derivative gain and the dynamic properties of the compliant sensor.To analyse the performance of the controller, the perceived impedance of the system with respect to the environment is developed. The effect of controller gains and sensor properties on the perceived impedance is analysed. It is shown that the mass of the external compliant sensor determines the high frequency impedance of the control law, while the derivative and proportional gains determine the low frequency ...

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“…It can provide the average gait motion training as well as other targeted exercises such as leg press, stairstepping, and motivational gaming. 30 Swortec company made the most advanced sitting gait trainer, the MotionMaker. [31][32][33] The system is composed of two robotic orthoses comprising motors and sensors, and a control unit managing the transcutaneous electrical muscle stimulation with realtime regulation.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and trajectory planning of a lower limb rehabilitation robot with a variable workspace

Wang

Yan

et al. 2018

International Journal of Advanced Robotic Systems

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The early phase of extremity rehabilitation training has high potential impact for stroke patients. However, most of the lower limb rehabilitation robots in hospitals are proposed just suitable for patients at the middle or later recovery stage. This article investigates a new sitting/lying multi-joint lower limb rehabilitation robot. It can be used at all recovery stages, including the initial stage. Based on man-machine engineering and the innovative design for mechanism, the leg length of the lower limb rehabilitation robot is automatically adjusted to fit patients with different heights. The lower limb rehabilitation robot is a typical human-machine system, and the limb safety of the patient is the most important principle to be considered in its design. The hip joint rotation ranges are different in people's sitting and lying postures. Different training postures cannot make the training workspace unique. Besides the leg lengths and joint rotation angles varied with different patients, the idea of variable workspace of the lower limb rehabilitation robot is first proposed. Based on the variable workspace, three trajectory planning methods are developed. In order to verify the trajectory planning methods, an experimental study has been conducted. Theoretical and actual curves of the hip rotation, knee rotation, and leg mechanism end point motion trajectories are obtained for three unimpaired subjects. Most importantly, a clinical trial demonstrated the safety and feasibility of the proposed lower limb rehabilitation robot.

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A task oriented haptic gait rehabilitation robot

Cited by 41 publications

References 34 publications

A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation

A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation

On the Use of Force Control with Compliant Sensing for Robot Safety

Mechanical design and trajectory planning of a lower limb rehabilitation robot with a variable workspace

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