Development of an abnormal gait analysis system in gait exercise assist robot “Welwalk” for hemiplegic stroke patients

Nakashima, Issei; Imoto, Daisuke; Hirano, Satoshi; Mukaino, Masahiko; Imaida, Masayuki; Saitoh, Eiichi; Otaka, Yohei

doi:10.1109/biorob49111.2020.9224323

Cited by 2 publications

(4 citation statements)

References 22 publications

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“…However, the index values calculated by the proposed gait analysis system in this study showed good correlation with those calculated by an existing marker-based motion capture system. The reason for this might be attributed to the method in which the index values of the proposed gait analysis system were calculated ( Nakashima et al, 2020 ). We calculated the index values of the proposed gait analysis system using not only the information obtained by the 3D sensor but also the information detected by multiple sensors, including the inertial, knee angle, and load sensors, which could detect the gait cycle more accurately ( Nakashima et al, 2020 ).…”

Section: Discussionmentioning

confidence: 99%

“…The reason for this might be attributed to the method in which the index values of the proposed gait analysis system were calculated ( Nakashima et al, 2020 ). We calculated the index values of the proposed gait analysis system using not only the information obtained by the 3D sensor but also the information detected by multiple sensors, including the inertial, knee angle, and load sensors, which could detect the gait cycle more accurately ( Nakashima et al, 2020 ). Regarding the inertial sensor, gait analysis methods that use wearable sensors have been widely introduced ( Tao et al, 2012 ).…”

Section: Discussionmentioning

confidence: 99%

“…We have developed a new gait training robot, Welwalk WW-2000 (WW-2000, Toyota Motor Corporation, Aichi, Japan), that permits modifications of various parameters, such as time and mechanical assistance load for a patient’s paralyzed leg. The robot is equipped with sensors and a markerless motion capture system to detect abnormal hemiparetic gait patterns during robot-assisted gait training ( Nakashima et al, 2020 ). These functions enable appropriate robot settings while evaluating individuals’ gait characteristics; thus, the robot could provide individually tailored gait training.…”

Section: Introductionmentioning

confidence: 99%

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A novel gait analysis system for detecting abnormal hemiparetic gait patterns during robot-assisted gait training: A criterion validity study among healthy adults

et al. 2022

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IntroductionRobot-assisted gait training has been reported to improve gait in individuals with hemiparetic stroke. Ideally, the gait training program should be customized based on individuals’ gait characteristics and longitudinal changes. However, a gait robot that uses gait characteristics to provide individually tailored gait training has not been proposed. The new gait training robot, “Welwalk WW-2000,” permits modification of various parameters, such as time and load of mechanical assistance for a patient’s paralyzed leg. The robot is equipped with sensors and a markerless motion capture system to detect abnormal hemiparetic gait patterns during robot-assisted gait training. Thus, it can provide individually tailored gait training. This study aimed to investigate the criterion validity of the gait analysis system in the Welwalk WW-2000 in healthy adults.Materials and methodsTwelve healthy participants simulated nine abnormal gait patterns that were often manifested in individuals with hemiparetic stroke while wearing the robot. Each participant was instructed to perform a total of 36 gait trials, with four levels of severity for each abnormal gait pattern. Fifteen strides for each gait trial were recorded using the markerless motion capture system in the Welwalk WW-2000 and a marker-based three-dimensional (3D) motion analysis system. The abnormal gait pattern index was then calculated for each stride from both systems. The correlation of the index values between the two methods was evaluated using Spearman’s rank correlation coefficients for each gait pattern in each participant.ResultsUsing the participants’ index values for each abnormal gait pattern obtained using the two motion analysis methods, the median Spearman’s rank correlation coefficients ranged from 0.68 to 0.93, which corresponded to moderate to very high correlation.ConclusionThe gait analysis system in the Welwalk WW-2000 for real-time detection of abnormal gait patterns during robot-assisted gait training was suggested to be a valid method for assessing gait characteristics in individuals with hemiparetic stroke.Clinical trial registration[https://jrct.niph.go.jp], identifier [jRCT 042190109].

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A novel gait analysis system for detecting abnormal hemiparetic gait patterns during robot-assisted gait training: A criterion validity study among healthy adults

et al. 2022

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“…To facilitate exercise for older adults, and improve their overall quality of life, robot technologies have found applications in the field of elderly care (Alnajjar et al, 2019), including the use of active exoskeleton robots (Li et al, 2021;Xiong et al, 2022) and assistive robots (Pino et al, 2015). To achieve the goal of "rehabilitation training in daily life" and meet the requirements for joint driving capability and movement precision, many internationally developed wearable rehabilitation exoskeletons rely on rigid components such as motors and gear reducers (Carnevale et al, 2018;Nakashima et al, 2020). However, these traditional rigid exoskeleton designs tend to be heavy, increasing the mass and inertia of the user's distal body parts and consequently elevating metabolic costs during movement.…”

Section: Introductionmentioning

confidence: 99%

Towards Human-like Walking with Biomechanical and Neuromuscular Control Features: Personalized Attachment Point Optimization Method of Cable-Driven Exoskeleton

Chen,

Yu,

Benali

et al. 2024

Front. Aging Neurosci.

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The cable-driven exoskeleton can avoid joint misalignment, and is substantial alterations in the pattern of muscle synergy coordination, which arouse more attention in recent years to facilitate exercise for older adults and improve their overall quality of life. This study leverages principles from neuroscience and biomechanical analysis to select attachment points for cable-driven soft exoskeletons. By extracting key features of human movement, the objective is to develop a subject-specific design methodology that provides precise and personalized support in the attachment points optimization of cable-driven exoskeleton to achieve natural gait, energy efficiency, and muscle coordination controllable in the domain of human mobility and rehabilitation. To achieve this, the study first analyzes human walking experimental data and extracts biomechanical features. These features are then used to generate trajectories, allowing better natural movement under complete cable-driven exoskeleton control. Next, a genetic algorithm-based method is employed to minimize energy consumption and optimize the attachment points of the cable-driven system. This process identifies connections that are better suited for the human model, leading to improved efficiency and natural movement. By comparing the calculated elderly human model driven by exoskeleton with experimental subject in terms of joint angles, joint torques and muscle forces, the human model can successfully replicate subject movement and the cable output forces can mimic human muscle coordination. The optimized cable attachment points facilitate more natural and efficient collaboration between humans and the exoskeleton, making significant contributions to the field of assisting the elderly in rehabilitation.

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Development of an abnormal gait analysis system in gait exercise assist robot “Welwalk” for hemiplegic stroke patients

Cited by 2 publications

References 22 publications

A novel gait analysis system for detecting abnormal hemiparetic gait patterns during robot-assisted gait training: A criterion validity study among healthy adults

A novel gait analysis system for detecting abnormal hemiparetic gait patterns during robot-assisted gait training: A criterion validity study among healthy adults

Towards Human-like Walking with Biomechanical and Neuromuscular Control Features: Personalized Attachment Point Optimization Method of Cable-Driven Exoskeleton

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