Design of a robotic walking simulator for neurological rehabilitation

Schmidt, Henning; Sorowka, D.; Hesse, Stefan; Bernhardt, R.

doi:10.1109/irds.2002.1043965

Cited by 23 publications

(8 citation statements)

References 5 publications

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“…2) is an end-effector based gait rehabilitation robot, which was designed following the programmable footplate concept [13], [12]. Each of the two manipulators comprises a hybrid serial-parallel robot kinematics and a footplate for permanent foot attachment at its end-effector.…”

Section: B Experimental Apparatusmentioning

confidence: 99%

Muscle activation patterns of healthy subjects during floor walking and stair climbing on an end-effector-based gait rehabilitation robot

Schmidt

Volkmar

Werner

et al. 2007

2007 IEEE 10th International Conference on Rehabilitation Robotics

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A major criterion for the application of rehabilitation robots in gait therapy is the question to what extent the machine is able to facilitate physiologically correct muscle activation patters in the patients leg muscles in order to achieve an optimal gait training effect The EMG data presented in this paper is based on intermediate results of a study with 8 healthy subjects (5 male, 3 female) to evaluate the end-effector based gait rehabilitation robot HapticWalker in position controlled mode. The study investigated two different walking trajectories (floor, upstairs) at three different cadences (45, 60, 90 steps/min) in three different modes (free walking, HapticWalker with vertical CoM motion, HapticWalker without vertical CoM motion). Results show that muscle EMGs measured from all relevant leg muscles have the same phasic and rhythmic muscle activation patterns on the HapticWalker as with free walking. Even though there are differences in patterns of dedicated muscles, the authors observed reduced amplitudes and slightly delayed activation on the HapticWalker compared to free walking. No differences in EMGs were observed between the two different HapticWalker modes (with vertical CoM motion, cancelled CoM motion), which might eliminate the need for an active trunk suspension system in the latter case. A passive patient lifter would significantly reduce the complexity of the machine construction, all advanced training modes (e.g. dynamic body weight reduction) could then be accomplished via compliant behavior of the freely programmable footplates. Numerous EMG measurements with healthy subjects and non-ambulatory stroke patients were performed on the predecessing electromechanical Gait Trainer GT I and showed that physiologically relevant findings from healthy subjects (e.g. correct phasic muscle activation) can be transferred to a certain extent to stroke patients, but nevertheless studies with stroke patients on the robotic gait trainer HapticWalke. Entnommen aus TEMA

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Section: B Experimental Apparatusmentioning

confidence: 99%

Muscle activation patterns of healthy subjects during floor walking and stair climbing on an end-effector-based gait rehabilitation robot

Schmidt

Volkmar

Werner

et al. 2007

2007 IEEE 10th International Conference on Rehabilitation Robotics

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“…The Lokomat research group has also recently addressed the potential problem of rigid assistance by implementing impedance control that relies on sensing interaction force between the patient and the device, making it possible to provide compliant assistance to the legs [14], [15]. Likewise, the MGT group has designed a device (the "Haptic Walker") with more DOF that relies on force feedback to accommodate more natural motion of the legs [16], [17].…”

mentioning

confidence: 99%

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Aoyagi

Ichinose

Harkema

et al. 2007

IEEE Trans. Neural Syst. Rehabil. Eng.

225

143

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Abstract-Locomotor training using body weight support on a treadmill and manual assistance is a promising rehabilitation technique following neurological injuries, such as spinal cord injury (SCI) and stroke. Previous robots that automate this technique impose constraints on naturalistic walking due to their kinematic structure, and are typically operated in a stiff mode, limiting the ability of the patient or human trainer to influence the stepping pattern. We developed a pneumatic gait training robot that allows for a full range of natural motion of the legs and pelvis during treadmill walking, and provides compliant assistance. However, we observed an unexpected consequence of the device's compliance: unimpaired and SCI individuals invariably began walking out-ofphase with the device. Thus, the robot perturbed rather than assisted stepping. To address this problem, we developed a novel algorithm that synchronizes the device in real-time to the actual motion of the individual by sensing the state error and adjusting the replay timing to reduce this error. This paper describes data from experiments with individuals with SCI that demonstrate the effectiveness of the synchronization algorithm, and the potential of the device for relieving the trainers of strenuous work while maintaining naturalistic stepping.

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“…The system comprises left and right support portions attached to a treadmill. The support Schmidt et al [58,59] developed the HapticWalker (Figure 9) with the aim of providing tactile feedback to patients during gait rehabilitation. Providing feedback on the force exerted on the foot is crucial in gait rehabilitation of CVD patients.…”

Section: Journal Of Roboticsmentioning

confidence: 99%

Gait Rehabilitation Device in Central Nervous System Disease: A Review

Kubo

Miyoshi

Kanai

et al. 2011

Journal of Robotics

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Central nervous system diseases cause the gait disorder. Early rehabilitation of a patient with central nervous system disease is shown to be benefit. However, early gait training is difficult because of muscular weakness and those elderly patients who lose of leg muscular power. In the patient's walking training, therapists assist the movement of patient's lower limbs and control the movement of patient's lower limbs. However the assistance for the movement of the lower limbs is a serious hard labor for therapists. Therefore, research into and development of various gait rehabilitation devices is currently underway to identify methods to alleviate the physical burden on therapists. In this paper, we introduced the about gait rehabilitation devices in central nervous system disease.

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Design of a robotic walking simulator for neurological rehabilitation

Cited by 23 publications

References 5 publications

Muscle activation patterns of healthy subjects during floor walking and stair climbing on an end-effector-based gait rehabilitation robot

Muscle activation patterns of healthy subjects during floor walking and stair climbing on an end-effector-based gait rehabilitation robot

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Gait Rehabilitation Device in Central Nervous System Disease: A Review

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