Design of a quasi-passive 3 DOFs ankle-foot wearable rehabilitation orthosis

Zhang, Chao; Zhu, Yanhe; Fan, Jizhuang; Zhao, Jie

doi:10.3233/bme-151356

Cited by 16 publications

(12 citation statements)

References 10 publications

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“…Drop foot is another special phenomenon in hemiplegic patients, which is bound up with the limited toeground clearance. The toe-ground clearance is a wildly-used index to measure the severity of drop foot, and can also be used to evaluate the advantage of exoskeleton robot-assisted walking training [30] . Fig.2 B2 depicts the toe-ground clearance, and Fig.2 C2 illustrates the normal toe-ground clearance curve across the gait cycle.…”

Section: Toe-ground Clearancementioning

confidence: 99%

Clinical research of lower extremity exoskeleton robot In post-stroke hemiplegic patients

Wang¹,

Yu²,

Hui-min³

et al. 2020

Preprint

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Background In recent years, the number of people suffering from stroke-induced motor function lost increased considerably. Recovery of motility is essential in improving their quality of life. However, the existing rehabilitation methods cannot fulfill patients’ training requirements. As a new rehabilitation technology, exoskeleton robot provides a new treatment scheme for post-stroke hemiplegic patients. Objective To explore the safety and effectiveness of exoskeleton-assisted gait training for post-stroke hemiplegic patients. Methods A lower extremity hip joint exoskeleton robot was designed by the cooperation team, and 9 post-stroke hemiplegic patients were included for exoskeleton-assisted gait training. The three-dimensional gait parameters, plantar pressure and surface electromyography were used to validate the effectiveness of the exoskeleton robot in post-stroke hemiplegic patients. Results Exoskeleton-assisted ambulation training for post-stroke hemiplegic patients can correct the asymmetry of gait and abnormal phase of gait cycle, increase the toe-ground clearance and the angle of hip joint, reduce the pressure of non-paretic plantar and the impulse of bilateral feet, which help balance the plantar pressure distribution. It can also improve the integral electromyography value of specific muscle, which means that corresponding muscles are stimulated to generate activities. Conclusions The exoskeleton robot designed by our team can correct the hemiplegic gait and foot drop phenomenon of post-stroke patients, protecting them from damage caused by long-term abnormal gait, which contributes to the recovery of lower extremity motor function in hemiplegic patients. The results also provide important information for the design of lower extremity exoskeleton robot. In the future, we should further explore the rehabilitation function of exoskeleton robot in post-stroke hemiplegic patients, as well as the ambulation and rehabilitation function in other lower extremity motor dysfunction patients.

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Section: Toe-ground Clearancementioning

confidence: 99%

Clinical research of lower extremity exoskeleton robot In post-stroke hemiplegic patients

Wang¹,

Yu²,

Hui-min³

et al. 2020

Preprint

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“…Ankle joint trajectory and dynamic characteristics like those of natural gait could be obtained by the combination of passive energy storage and additional power complement. In terms of function, the orthosis had shock absorption and low energy consumption [14].…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Automated Ankle Foot Orthosis for Foot Drop Patients Using Gait Cycle EMG Analysis

Islam

Hossain

2018

Int. J. Adv. Sci. Eng. Inf. Technol.

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Foot drop is known as gait abnormality in which the dropping of the forefoot happens due to the weakness of Tibialis Anterior Muscle for the damage of the common fibular nerve in the anterior portion of the lower leg. In this research, those patients are considered who have foot drop for Guillain-Barré syndrome (GBS). GBS is a peripheral nerve disorder for which bilateral foot drop happens to the patients. So, the aim of this research is to develop an automated Ankle Foot Orthosis (AFO) which will aid the GBS patients in their gait cycle while walking. For the development of this AFO, an EMG analysis has been conducted on both normal people (20 persons, Male 20-45 years) and GBS patients (10 patients, Male 20-45 years) and compared to find out the deviation of the patient's one from the normal people. The findings of the EMG study show that the stance phase of the gait cycle is not affected by the GBS as correlation coefficient values are in between 0.95 to 1 where the swing phase very much deviates from the normal pattern as the coefficient values are in between 0.6 to 0.7 as well as short swing phase and no heel strike during walking. Considering these, automated AFO has been developed and implemented to test the feasibility and effectiveness on patients. The experimental results show that the effect of GBS on swing phase can be lessened as the value of correlation coefficient increases to 0.85 to 0.9 with long swing phase and proper heel strike on terminal swing phase.

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“…Clutches can be used in hybrid actuation schemes where springs or actuators are engaged individually, in parallel, or in series for improved performance [3,4]. These approaches can lead to lower energy use in bipedal robots [5,6], lowerlimb exoskeletons [7][8][9], and lower-limb prostheses [10,11], and suggest other devices that could assist gait [12,13].…”

Section: Introductionmentioning

confidence: 99%

A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation

Diller

Majidi

Collins

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

105

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Clutches can be used to enhance the functionality of springs or actuators in robotic devices. Here we describe a lightweight, low-power clutch used to control spring engagement in an ankle exoskeleton. The clutch is based on electrostatic adhesion between thin electrode sheets coated with a dielectric material. Each electrode pair weighs 1.5 g, bears up to 100 N, and changes states in less than 30 ms. We placed clutches in series with elastomer springs to allow control of spring engagement, and placed several clutched springs in parallel to discretely adjust stiffness. By engaging different numbers of springs, the system produced six different levels of stiffness. Force at peak displacement ranged from 14 to 501 N, and the device returned 95% of stored mechanical energy. Each clutched spring element weighed 26 g. We attached one clutched spring to an ankle exoskeleton and used it to engage the spring only while the foot was on the ground during 150 consecutive walking steps. Peak torque was 7.3 N·m on an average step, and the device consumed 0.6 mW of electricity. Compared to other electrically-controllable clutches, this approach results in three times higher torque density and two orders of magnitude lower power consumption per unit torque. We anticipate this technology will be incorporated into exoskeletons that tune stiffness online and into new actuator designs that utilize many lightweight, lowpower clutches acting in concert.

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Design of a quasi-passive 3 DOFs ankle-foot wearable rehabilitation orthosis

Cited by 16 publications

References 10 publications

Clinical research of lower extremity exoskeleton robot In post-stroke hemiplegic patients

Clinical research of lower extremity exoskeleton robot In post-stroke hemiplegic patients

Design and Implementation of Automated Ankle Foot Orthosis for Foot Drop Patients Using Gait Cycle EMG Analysis

A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation

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