Human-Robot interaction strategy for overground rehabilitation in patients with Cerebral Palsy

Cifuentes, Carlos A.; Bayón, Cristina; Lerma, S.; Frizera, Anselmo; Rocón, Eduardo

doi:10.1109/biorob.2016.7523713

Cited by 3 publications

(1 citation statement)

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“…The kinematic analysis of walking for the handicapped groups including hemiplegia and the design of the training track that conforms to their gait law is of great significance for the patients to recover their normal walking ability (Amatya, Sorkhabadi, & Wenlong, 2020;Liu, 2010;Wang, Yin, Yang, & Wang, 2018). Besides, the motion law originated from walking kinematic model is widely used in virtual human animation simulation (Cirio, Olivier, Marchal, & Pettre, 2013), human-machine interaction (Cifuentes, Bayon, Lerma, Frizera, & Rocon, 2016) and other fields. Nowadays, the difficulty of human walking kinematic model building is in that the human walking process includes instability and nonlinear characteristics.…”

Section: Introductionmentioning

confidence: 99%

The Human walking kinematic model combined with upper and lower limb movement

Chen¹,

Hong

Lin³

et al. 2021

Preprint

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The purpose of this study is to build a relatively complete human walking kinematic model. This model is combined with the rolling-foot model (lower limb) and multi-rod swinging model (upper limb) connected by COM. We calculated the velocity of COM and other critical joints of the upper limb by marker point capture experiment using the high-speed camera. This research shows that the hand joint velocity measured through the experiment can achieve high coincidence with that calculated by the theoretical model given specific inputs. Moreover, the common pattern of upper limb angles is also studied for an accurate description. The proposed kinematic model is expected to forecast desired motion intention for better compliance by the rehabilitation and assistive robots.

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Section: Introductionmentioning

confidence: 99%

The Human walking kinematic model combined with upper and lower limb movement

Chen¹,

Hong

Lin³

et al. 2021

Preprint

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A Novel Multimodal Cognitive Interaction for Walker-Assisted Rehabilitation Therapies

Scheidegger

Mello

Sierra

et al. 2019

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)

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Evaluation of biomechanical gait parameters of patients with Cerebral Palsy at three different levels of gait assistance using the CPWalker

Aycardi

Cifuentes

Múnera

et al. 2019

J NeuroEngineering Rehabil

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BackgroundCerebral Palsy (CP) is the most common cause of permanent serious physical disability in childhood. Although many platforms have been developed, so far there are still not precise guidelines for the rehabilitation of the population with CP. The CPWalker is a robotic platform for the rehabilitation of children with CP, through which they can start experiencing autonomous locomotion in the rehabilitation environment. It allows the possibility of free movement and includes physical and cognitive interfaces into the therapy. The main objective of this work is to evaluate the effects of the CPWalker-based rehabilitation intervention in children with CP by comparing different gait parameters before, during and after the use of the platform.FindingsThe evaluation was divided in three stages where the gait parameters and symmetry indexes of eight subjects with CP were evaluated. In the first stage patients walked only with the help they receive normally in daily life. During the second stage they walked with the CPWalker and finally, in the third stage, they repeated their gait without the platform. In all stages they wore an inertial G-Sensor Ⓡ while walking through the hospital facilities. The results showed statistical significant differences in several spatio-temporal parameters, pelvic angles and general gait cycle parameters, with and without the use of the robotic device. For the eight patients: cadence, speed and stride length presented similar values when comparing before and after the therapy. However, they decreased during the intervention (both means and standard deviations). No significant differences were found in the symmetry indexes with the use of the platform. In spite of this, a reduction in the pelvic angles ranges and propulsion was observed.ConclusionsThe effect of using the device was analyzed for spatio-temporal parameters, pelvic girdle angles and general gait cycle parameters. Among the eighteen initial parameters, seven presented a statistical significant difference when comparing stage 2 of the intervention with stages 1 and 3. Those changes showed the potential of the CPWalker to improve muscular strength and gait patterns of the patients with CP in the long term and to provide useful information for the design of the future generations of rehabilitation robotic devices.

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Human-Robot interaction strategy for overground rehabilitation in patients with Cerebral Palsy

Cited by 3 publications

References 19 publications

The Human walking kinematic model combined with upper and lower limb movement

The Human walking kinematic model combined with upper and lower limb movement

A Novel Multimodal Cognitive Interaction for Walker-Assisted Rehabilitation Therapies

Evaluation of biomechanical gait parameters of patients with Cerebral Palsy at three different levels of gait assistance using the CPWalker

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