Control of an Exoskeleton for Realization of Aquatic Therapy Effects

Kong, Kyoungchul; Moon, Hyosang; Jeon, Doyoung; Tomizuka, Masayoshi

doi:10.1109/tmech.2010.2041243

Cited by 26 publications

(6 citation statements)

References 21 publications

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“…Resistive modalities have been recently introduced as a rehabilitation solution for the latest stages of the motor recovery process to engage the patients during their progression through robot-mediated exercises. In fact, robots can provide an aquatic therapy-like environment that allows user-driven free movements with or without viscous resistance ( Kyoungchul et al, 2010 ). Usually, resistive modalities do not follow trajectory references.…”

Section: High-level Rehabilitation Training Modalitiesmentioning

confidence: 99%

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

et al. 2021

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Technology-supported rehabilitation therapy for neurological patients has gained increasing interest since the last decades. The literature agrees that the goal of robots should be to induce motor plasticity in subjects undergoing rehabilitation treatment by providing the patients with repetitive, intensive, and task-oriented treatment. As a key element, robot controllers should adapt to patients’ status and recovery stage. Thus, the design of effective training modalities and their hardware implementation play a crucial role in robot-assisted rehabilitation and strongly influence the treatment outcome. The objective of this paper is to provide a multi-disciplinary vision of patient-cooperative control strategies for upper-limb rehabilitation exoskeletons to help researchers bridge the gap between human motor control aspects, desired rehabilitation training modalities, and their hardware implementations. To this aim, we propose a three-level classification based on 1) “high-level” training modalities, 2) “low-level” control strategies, and 3) “hardware-level” implementation. Then, we provide examples of literature upper-limb exoskeletons to show how the three levels of implementation have been combined to obtain a given high-level behavior, which is specifically designed to promote motor relearning during the rehabilitation treatment. Finally, we emphasize the need for the development of compliant control strategies, based on the collaboration between the exoskeleton and the wearer, we report the key findings to promote the desired physical human-robot interaction for neurorehabilitation, and we provide insights and suggestions for future works.

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Section: High-level Rehabilitation Training Modalitiesmentioning

confidence: 99%

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

et al. 2021

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“…Many active gait orthoses demand the user to hang in the front or the backside in order to hold trunk in an erect posture. SUBAR (Sogang university biomedical assist robot, Kyoungchul [16]), makes use of a self-moving appendix located in front of the wearer, to sustain the patient and carry heavy peripheral devices. The need to grab a support has the inconvenience of inducing forward or backward tilting of the upper half body, making it difficult to keep right posture for walking.…”

Section: Active Orthosesmentioning

confidence: 99%

A Motor Learning Oriented, Compliant and Mobile Gait Orthosis

Calanca

Piazza

Fiorini

2012

Applied Bionics and Biomechanics

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People affected by Cerebral Palsy suffer from physical disabilities due to irreversible neural impairment since the very beginning of their life. Difficulties in motor control and coordination often relegate these patients to the use of a wheelchair and to the unavoidable upcoming of disuse syndromes. As pointed out in recent literature Damiano [7] physical exercise, especially in young ages, can have a deep impact on the patient health and quality of life. For training purposes is very important to keep an upright position, although in some severe cases this is not trivial. Many commercial mobile orthoses are designed to facilitate the standing, but not all the patients are able to deploy them. ARGO, the Active Reciprocated Gait Orthosis we developed, is a device that overcomes some of the limitations of these devices. It is an active device that is realized starting from a commercial reciprocated Gait Orthosis applying sensors and actuators to it. With ARGO we aim to develop a device for helping limbs in a non-coercive way accordingly to user’s intention. In this way patients can drive the orthosis by themselves, deploying augmented biofeedback over movements. In fact Cerebral Palsy patients usually have weak biofeedback mechanisms and consequently are hardly inclined to learn movements. To achieve this behavior ARGO deploys a torque planning algorithm and a force control system. Data collected from a single case of study shows benefits of the orthosis. We will show that our test patient reaches complete autonomous walking after few hour of training with prototype.

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“…These loads can be lifted by directly compensating their nominal weight with actuator torque commands (i.e., the “gravity compensation” strategy). This compensation could be lifting mostly the exoskeleton itself Kazerooni et al (2005) , or even offloading the operator’s own bodyweight Kong et al (2010) ; Lv et al (2018) ; Lin et al (2019) . In an exoskeleton system that can be easily backdriven by the operator, gravity compensation alone is a practical approach for lifting well-modeled payloads Campbell (2018) .…”

Section: Introductionmentioning

confidence: 99%

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons

et al. 2021

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Augmenting the physical strength of a human operator during unpredictable human-directed (volitional) movements is a relevant capability for several proposed exoskeleton applications, including mobility augmentation, manual material handling, and tool operation. Unlike controllers and augmentation systems designed for repetitive tasks (e.g., walking), we approach physical strength augmentation by a task-agnostic method of force amplification—using force/torque sensors at the human–machine interface to estimate the human task force, and then amplifying it with the exoskeleton. We deploy an amplification controller that is integrated into a complete whole-body control framework for controlling exoskeletons that includes human-led foot transitions, inequality constraints, and a computationally efficient prioritization. A powered lower-body exoskeleton is used to demonstrate behavior of the control framework in a lab environment. This exoskeleton can assist the operator in lifting an unknown backpack payload while remaining fully backdrivable.

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Control of an Exoskeleton for Realization of Aquatic Therapy Effects

Cited by 26 publications

References 21 publications

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons

A Motor Learning Oriented, Compliant and Mobile Gait Orthosis

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons

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