Development of a Robotic Companion to Provide Haptic Force Interaction for Overground Gait Rehabilitation

Abstract

The aim of gait rehabilitation is to achieve independent ambulation. Somatosensory augmentation with external haptic sources can improve the subject's ability to walk or stand. This paper presents the development and evaluation of a robotic system prototype that delivers haptic forces to aid overground gait rehabilitation. This portable system is based on a compact, mobile robot that is equipped with force and LIDAR sensors. The robot is flexibly linked to the user, which allows the force interaction between the user and machine to be halted when desired. During operation, the system can dynamically transition between modes in which force is applied or distance is maintained to emulate the experience of a human walking a dog on a leash. The haptic feedback from our system was evaluated in a pilot study that involved six young, healthy subjects and one individual recovering from a hemiparetic stroke. The study comprised independent and device-assisted walking trials. When using the device, the subjects walked continuously as it transitioned between distance and force modes. Gait speed and step length increased when force was applied and decreased as the force was removed. The improvements exhibited by an individual suffering from stroke were similar to those exhibited by healthy subjects. The application of haptic forces has a high potential for improving the efficiency of overground gait training with simple interactions. INDEX TERMS Haptic interfaces, rehabilitation robotics, mobile robots.

Walking with robot-generated haptic forces in a virtual environment: a new approach to analyze lower limb coordination

“…As previously seen, all three groups increased gait speed during the force and post-force epoch with CG and HF groups walking as fast or faster with the leash compared to the cane [27]. These results corroborate with previous findings where a rehabilitation dog was compared to the cane overground [25] and overground walking with haptic cues [28,43]. Both CG and HF groups increased gait speed by 0.11-0.13 m/s, which may be considered on the lower end of clinically meaningful change [44].…”

“…Similar gait speed increases were also reported in a younger population [26]. Moreover, a similar forward leading haptic tensile force set-up during overground walking has since followed up with similar spatiotemporal effects [28]. Thus, there is growing evidence that walking with haptic tensile forces in the direction of movement increases gait speed.…”

Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

“…The knowledge gained from the haptic sensations rendered by the device immerses the user into the virtual/remote scenarios. It can be helpful in many applications, particularly in the medical field, training apprentices (simulators), and rehabilitation applications [37]. In telerobotic and minimally invasive surgeries, haptic feedback, especially in the form of stiffness perception along with texture sensations, makes the surgeon feel the tissue properties properly [38].…”

Haptic contact with a walking dog improves human balance during a quiet tandem task with various levels of difficulty

“…However, research on their physically-interactive interdependency is a recent endeavor. [1][2][3] In these human-animal activities, interindividual information exchange occurs symbiotically so that the pair can accomplish various tasks or even react to challenging situations (e.g., a person holding onto a rescue dog to avoid drowning). In other instances, more complex demands for cooperative behavior include the use of tools for mediating information, such as when an individual uses a leash to handle a dog during obedience training.…”

“…4,5 Recently, the interaction between dogs and their handlers has fostered great interest in researchers who want to understand dogs' interaction abilities with humans. 1 These studies have inspired the designs of robotic companions as a haptic aid for gait rehabilitation in stroke patients 2 and robotic interfaces for the blind so that they may better navigate independently. 6 The interdependent synchronization between humans and dogs has created an invaluable therapeutic alternative for people with disabilities, particularly those who are blind.…”