Development and evaluation of a novel overground robotic walker for pelvic motion support

Mun, Kyung-Ryoul; Guo, Zhao; Huang, Yu

doi:10.1109/icorr.2015.7281182

Cited by 20 publications

(25 citation statements)

References 20 publications

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“…However, they often misinterpret the energetic cost of walking. In contrast, the six determinates of the gait allow a better estimation of the CoM energy, but do not produce an accurate kinematics of the motion [16,20,21,31,42,[54][55][56][57][58][59][60][61][62][63]. Thus, the available balance models use a hybrid inverted pendulum model that is supported by a dynamic model of the step-to-step transition, which requires knowledge of the ground reaction forces [16,20,21,31,42,54,[56][57][58][59][60][61][62][63].…”

Section: Balance Modelsmentioning

confidence: 98%

“…Contrarily, the KineAssistTM (Kinea Design LLC, USA), to the best of our knowledge, was the first device able to provide therapy targeting multiple components of balance at the same time and tries to bring lower limb rehabilitation into daily living tasks [11,14,15]. Recently, other devices have been following such approach; the Robotic Walker developed at the National University of Singapore [16] and the Andago commercialised by Hocoma AG in February 2016. The NUS Robotic Walker still shows the interference with the gait strategies already reported for the KineAssist [14].…”

Section: 34mentioning

confidence: 99%

“…It is also difficult to identify neurophysiological parallels and justification under these derived models. They are likewise intrinsically incompatible with feedback delay introduced by the nervous system [5,16,18,20,21,31,42,54,[56][57][58][59][60][61][62]64].…”

Section: Balance Modelsmentioning

confidence: 99%

“…This allows the patients to safely ambulate with gait support, while simultaneously receiving the electrical stimulation of the muscles [14]. Recently, other research groups have followed the approach introduced with the KineAssist [16,104]. The most relevant is the overground Robotic Walker for pelvic motion support developed by NUS.…”

Section: Over-ground Gait Trainersmentioning

confidence: 99%

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Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Tiseo¹

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With the rapidly ageing of the world' s population, the WHO predicted that, by 2050, there will be about one billion people who are 65 years or older suffering from mobility-related problems. Robotic rehabilitation has been proven to provide effective therapies for people with motor deficiencies. Although multiple solutions have been developed for both balance and gait rehabilitation, both exoskeletons and robotic walkers have been shown to not have any benefit when compared with current therapies. A possible justification is a significant alteration of the activity dynamics (i.e. balance and locomotion) that prevents the skill translatability in daily living. The current knowledge about bipedal dynamics was reviewed to identify a viable solution for the improvement of both locomotion and balance therapy. The review revealed a gap in the current knowledge in the human balance and locomotion motor control, which does not provide a satisfactory explanation of how humans control and optimize their locomotion. The following hypotheses have been developed to address the limitations of bipedal models: first, the brain accounts for fixed fulcrum for the legs' inverted pendulum model, and second, the legs are not simply synchronised but are deployed as coupled oscillators. These hypotheses have enabled the formulation of an algebraic model for human locomotion that has been tested against data from multiple experiments. The results show that the proposed [167] C. Tiseo, W. T. Ang, and C. Y. Shee, "Dynamics of the mobile robotic balance trainer: Study of the pentagonal closed chain properties in

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Section: Balance Modelsmentioning

confidence: 98%

Section: 34mentioning

confidence: 99%

Section: Balance Modelsmentioning

confidence: 99%

Section: Over-ground Gait Trainersmentioning

confidence: 99%

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Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Tiseo¹

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“…Effective walking training requires not only a forward motion but also a complex combination of motions including back/forward motion, oblique motion, and rotation because that human walking inherently involves this full range of motions. However, the training devices currently in use, such as canes [7], crutches [8], parallel bars, and walkers [9], allow only a few basic motions and training primarily conducted at hospitals under the guidance of therapists. Wearable exoskeletons have been attracting interest as training systems because they offer a number of potential advantages, such as allowing the user to traverse irregular surfaces [10,11].…”

Section: Introductionmentioning

confidence: 99%

A New Directional-Intent Recognition Method for Walking Training Using an Omnidirectional Robot

Wang

2017

J Intell Robot Syst

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In order to avoid being bedridden, a preemptive walking rehabilitation is essential for people who lose their walking ability because of illness or accidents. In a previous study, we developed an omnidirectional walking training robot (WTR), the effectiveness of which in rehabilitation was validated by clinical testing. In the primary stage of the walking training, the WTR guides the user to follow the predesigned therapy program to conduct the walking training. This study focuses on the later stages of training in which the user plays an active role of determining the training by himself/herself, and the WTR must follow the user's intent. However, identifying a user's intent is challenging. In the present study, we address this problem by introducing a directionalintent identification method based on a distance-type fuzzy reasoning algorithm. The effectiveness of the directional identification method is experimentally confirmed.

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Design and Fabrication of a Passive Pelvic Orthosis for Treadmill Walking Rehabilitation

Mokhtarian

Fattah²,

Keshmiri³

2023

J Bionic Eng

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Development and evaluation of a novel overground robotic walker for pelvic motion support

Cited by 20 publications

References 20 publications

Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

A New Directional-Intent Recognition Method for Walking Training Using an Omnidirectional Robot

Design and Fabrication of a Passive Pelvic Orthosis for Treadmill Walking Rehabilitation

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