Compliant gait assistance triggered by user intention

Rajasekaran, Vijaykumar; Aranda, Joan; Casals, Alı́cia

doi:10.1109/embc.2015.7319242

Cited by 3 publications

(1 citation statement)

References 13 publications

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“…The inclusion of decisions and intentions of patients can be obtained within volitionalbased rehabilitation strategies such as assistance-as-needed [72,73], human-in-the-loop [74,75] and user-centered concepts [76], where the level of assistance is regulated with regard to detected intentions and the evolution of the therapy [77].…”

Section: Decision Making (Dem)mentioning

confidence: 99%

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

Karami,

Maludrottu,

Vassallo

et al. 2023

Actuators

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Powered Lower Limb Exoskeletons (PLLE) have attracted much interest due to their potential applications. They provide assistance for persons with disabilities to accomplish activities of daily living (ADL), and more importantly, assist them in achieving their rehabilitation goals. However, there is still uncertainty regarding the quality and benefits that PLLEs can offer to patients. This is due to limited usability and performance of current PLLEs, insufficient clinical use of PLLEs for different patients with high diversity in their disability type and impairment, and also the large gap between the technological state of the art and clinical expectations. In this study, we review and analyse various factors that can improve the effectiveness of PLLEs at yielding better assistance and rehabilitation training for patients with motor impairments. First, we define a set of criteria that characterize the majority of expectations for the rehabilitation and assistance domains and we use them for evaluating PLLEs depending on the context. Then, we include the effects of control strategies and combined approaches which include auxiliary devices such as functional electrical stimulation and smart crutches applied to PLLEs with regard to the criteria we defined.

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Section: Decision Making (Dem)mentioning

confidence: 99%

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

Karami,

Maludrottu,

Vassallo

et al. 2023

Actuators

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Volition-adaptive control for gait training using wearable exoskeleton: preliminary tests with incomplete spinal cord injury individuals

Rajasekaran

López‐Larraz

Trincado-Alonso

et al. 2018

J NeuroEngineering Rehabil

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BackgroundGait training for individuals with neurological disorders is challenging in providing the suitable assistance and more adaptive behaviour towards user needs. The user specific adaptation can be defined based on the user interaction with the orthosis and by monitoring the user intentions. In this paper, an adaptive control model, commanded by the user intention, is evaluated using a lower limb exoskeleton with incomplete spinal cord injury individuals (SCI).MethodsA user intention based adaptive control model has been developed and evaluated with 4 incomplete SCI individuals across 3 sessions of training per individual. The adaptive control model modifies the joint impedance properties of the exoskeleton as a function of the human-orthosis interaction torques and the joint trajectory evolution along the gait sequence, in real time. The volitional input of the user is identified by monitoring the neural signals, pertaining to the user’s motor activity. These volitional inputs are used as a trigger to initiate the gait movement, allowing the user to control the initialization of the exoskeleton movement, independently. A Finite-state machine based control model is used in this set-up which helps in combining the volitional orders with the gait adaptation.ResultsThe exoskeleton demonstrated an adaptive assistance depending on the patients’ performance without guiding them to follow an imposed trajectory. The exoskeleton initiated the trajectory based on the user intention command received from the brain machine interface, demonstrating it as a reliable trigger. The exoskeleton maintained the equilibrium by providing suitable assistance throughout the experiments. A progressive change in the maximum flexion of the knee joint was observed at the end of each session which shows improvement in the patient performance. Results of the adaptive impedance were evaluated by comparing with the application of a constant impedance value. Participants reported that the movement of the exoskeleton was flexible and the walking patterns were similar to their own distinct patterns.ConclusionsThis study demonstrates that user specific adaptive control can be applied on a wearable robot based on the human-orthosis interaction torques and modifying the joints’ impedance properties. The patients perceived no external or impulsive force and felt comfortable with the assistance provided by the exoskeleton. The main goal of such a user dependent control is to assist the patients’ needs and adapt to their characteristics, thus maximizing their engagement in the therapy and avoiding slacking. In addition, the initiation directly controlled by the brain allows synchronizing the user’s intention with the afferent stimulus provided by the movement of the exoskeleton, which maximizes the potentiality of the system in neuro-rehabilitative therapies.

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Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

Karami¹,

Maludrottu²,

Vassallo³

et al. 2023

Preprint

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Powered lower limb exoskeletons (PLLE) have attracted much interest due to their potential applications. They provide assistance for persons with disabilities to accomplish activities of daily living (ADL), and more importantly assist them in achieving their rehabilitation goals. However, still there are unclear evidences on the quality and benefits that PLLEs can deliver to patients. This is due to limited usability and performance of current PLLEs, insufficient clinical use of PLLEs for different patients with high diversity in their disability type and impairment, and also the large gap between the technological state of the art and clinical expectations. In this study, we review and analyse various factors that can improve the effectiveness of PLLEs at yielding better assistance and rehabilitation training for patients with motor impairments. First, we define a set of criteria that characterize the majority of expectations for the rehabilitation and assistance domains and we use them for evaluating PLLEs depending on the context. Then, we include the effects of control strategies and combined approaches which include auxiliary devices such as Functional electrical stimulation and smart crutches applied to PLLEs with regard to the criteria we defined.

show abstract

Compliant gait assistance triggered by user intention

Cited by 3 publications

References 13 publications

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

Volition-adaptive control for gait training using wearable exoskeleton: preliminary tests with incomplete spinal cord injury individuals

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

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