Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles

Abstract

The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m/s when cycling at different speeds (i.e., from 16 to 80 r/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities.

Effects of Interactive Dynamic Scalp Acupuncture on Motor Function and Gait of Lower Limbs after Stroke: A Multicenter, Randomized, Controlled Clinical Trial

“…(14) At present, it is generally accepted within the field of neurological rehabilitation that appropriate rehabilitation therapy can promote the remodeling and functional reorganization of cerebral nerves after cerebral apoplexy nerve injury, which is also the theoretical basis of functional recovery after cerebral nerve injury. (28) Acupuncture stimulation on the scalp acupoints can improve blood supply to the ischemic and hypoxic regions of the brain and promote the recovery of the ultrastructural synapses. (29) Appropriate exercise training can provide functional reconstruction guidance for the remodeling and functional recovery of the cerebral nerve, improve the compensatory function of the corresponding cortical areas of the bilateral brain, and promote the recovery of the patients' motor function.…”

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

“…While the desired motion of a patient was detected by pedalbased force sensors, the EMG sensors were positioned at the left and right gluteus Medius muscles to evaluate the useful assistance of the exoskeletons. [167] In another approach, Bravi et al used two IMU sensors employed on the wrist and upper arm for detecting shoulder range of motion in cervical spinal cord injury patients [168] while Regterschot et al assessed arm use in stroke patients impacted by whole-body motions using wristworn accelerometers. [169] Wilmes et al introduced an easy-to-use motion analysis system with inertial sensors in football practice to enhance the physical load estimates of the players by acquiring lower body kinematics and quantifying movement intensity.…”

“…While the desired motion of a patient was detected by pedal‐based force sensors, the EMG sensors were positioned at the left and right gluteus Medius muscles to evaluate the useful assistance of the exoskeletons. [ 167 ] In another approach, Bravi et al. used two IMU sensors employed on the wrist and upper arm for detecting shoulder range of motion in cervical spinal cord injury patients [ 168 ] while Regterschot et al.…”

Sensor Fusion in Assistive and Rehabilitation Robotics

“…The first paper, by Huang et al [ 1 ], presents a novel wheelchair robot with attached leg exoskeletons for leg muscle exercise. The authors implemented an exoskeleton control system based on master–slave control and sensor fusion and conducted experiments to evaluate exercise efficiency with regard to the gluteus medius muscles.…”