Human-centered robotics applied to gait training and assessment

Riener, Robert; Lünenburger, Lars; Colombo, G.

doi:10.1682/jrrd.2005.02.0046

Cited by 143 publications

(75 citation statements)

References 92 publications

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“…We hope that next-generation robots will have better monitoring capabilities and interact much more, providing "as needed" assistance. Integrating advanced concepts such as virtual reality [38] and quantifying impairments such as weakness and spasticity [39] has already begun. Adding measures of cardiac and metabolic responses would surely make these devices well-rounded additions to rehabilitation clinics.…”

Section: Discussionmentioning

confidence: 99%

Automating activity-based interventions: The role of robotics

Hidler¹

2008

JRRD

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Abstract-We have seen a continued growth of robotic devices being tested in neurorehabilitation settings over the last decade, with the primary goal to improve upper-and lowermotor function in individuals following stroke, spinal cord injury, and other neurological conditions. Interestingly, few studies have investigated the use of these devices in improving the overall health and well-being of these individuals despite the capability of robotic devices to deliver intensive timeunlimited therapy. In this article, we discuss the use of robotic devices in delivering intense, activity-based therapies that may have significant exercise benefits. We also present preliminary data from studies that investigated the metabolic and cardiac responses during and after 6 months of lower-limb robotic training. Finally, we speculate on the future of robotics and how these devices will affect rehabilitation interventions.

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Section: Discussionmentioning

confidence: 99%

Automating activity-based interventions: The role of robotics

Hidler¹

2008

JRRD

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“…This is also reflected in current research on robotic neurorehabilitation [8], [15], [16]. These facts call for a device that allows near-tonormal free walking and that allows providing a wide range of possible content of training and supportive actions, while safety (for both patient and therapist) is assured at any time.…”

Section: Design Criteriamentioning

confidence: 96%

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

Veneman

Kruidhof

Hekman

et al. 2007

IEEE Trans. Neural Syst. Rehabil. Eng.

1,114

496

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Abstract-This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "patient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.Index Terms-Body-weight supported treadmill training, exoskeleton robot, gait training device.

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“…Due to the increase of aged population and decline in number of caregivers, the robotic device is in urgent need to fulfill these training tasks for those stroke patients. Advantages of robot aided rehabilitation include the ability to document and store motion and force parameters, the ability to achieve thousands of repetitions per treatment session, and increased biofeedback through the incorporation of training tasks [2,3]. Moreover, robotic rehabilitation could potentially improve the productivity of stroke rehabilitation, reduce cost and improve precision [4].…”

Section: Introductionmentioning

confidence: 99%

Neural Network Control of a Rehabilitation Robot by State and Output Feedback

et al. 2014

J Intell Robot Syst

228

100

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-In this paper, neural network control is presented for a rehabilitation robot with unknown system dynamics. To deal with the system uncertainties and improve the system robustness, adaptive neural networks are used to approximate the unknown model of the robot and adapt interactions between the robot and the patient. Both full state feedback control and output feedback control are considered in this paper. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved in the context of Lyapunov's stability theory and its associated techniques. The state of the system is proven to converge to a small neighborhood of zero by appropriately choosing design parameters. Extensive simulations for a rehabilitation robot with constraints are carried out to illustrate the effectiveness of the proposed control.Index Terms -Adaptive neural network control, Full state feedback control, Lyapunov's direct method, Output feedback control, Rehabilitation robot.

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Human-centered robotics applied to gait training and assessment

Cited by 143 publications

References 92 publications

Automating activity-based interventions: The role of robotics

Automating activity-based interventions: The role of robotics

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

Neural Network Control of a Rehabilitation Robot by State and Output Feedback

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