Kinematic trajectories while walking within the Lokomat robotic gait-orthosis

Hidler, Joseph; Wisman, Wessel; Neckel, Nathan D.

doi:10.1016/j.clinbiomech.2008.08.004

Cited by 173 publications

(128 citation statements)

References 12 publications

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“…PAM mainly consists of linear actuators to support pelvis and ARTHUR is based on linear actuators on rail to provide foot motion assist. Lokomat [13][14][15] is a driven gait orthosis which automates locomotion therapy on a treadmill. It improves the e ciency of treadmill training by providing highly intensive and individualized training in a motivational environment of augmented performance feedback.…”

Section: Conventional Methods and Related Work Conventional Methodsmentioning

confidence: 99%

A Walking Training System with Customizable Trajectory Designing

Dong

Matsumaru

2014

Paladyn, Journal of Behavioral Robotics

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This paper shows a novel walking training system for foot-eye coordination. To design customizable trajectories for di erent users conveniently in walking training, a new system which can track and record the actual walking trajectories by a tutor and can use these trajectories for the walking training by a trainee is developed. We set the four items as its human-robot interaction design concept: feedback, synchronization, ingenuity and adaptability. A foot model is proposed to de ne the position and direction of a foot. The errors in the detection method used in the system are less than 40 mm in position and 15 deg in direction. On this basis, three parts are structured to achieve the system functions: Trajectory Designer, Trajectory Viewer and Mobile Walking Trainer. According to the experimental results, we have con rmed the system works as intended and designed such that the steps recorded in Trajectory Designer could be used successfully as the footmarks projected in Mobile Walking Trainer and foot-eye coordination training would be conducted smoothly.

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Section: Conventional Methods and Related Work Conventional Methodsmentioning

confidence: 99%

A Walking Training System with Customizable Trajectory Designing

Dong

Matsumaru

2014

Paladyn, Journal of Behavioral Robotics

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“…보행재활 훈련장치로서 국외에서는 스위스의 Hocoma사 에서 트레드밀을 이용하는 보행보조 로봇인 Lokomat을 개 발 및 판매하고 있으며 [1], 일본의 CyberDyne사에서는 외 골격 형태로 하지에 착용할 수 있는 HAL(Hybrid Assistive Limb)을 개발해서 꾸준히 성능 개선 중에 있다 [2]. 국내에서도 최근 트레드밀을 이용한 외골격형 보행 보 조로봇의 시제품을 개발하고 시제품의 운동학적 특성을 평 가한 연구를 발표했다 [3] [4].…”

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Generation of Motor Velocity Profile for Walking-Assistance System Using Humanoid Robot Model

Choi¹,

Choi²,

Park³

et al. 2012

Journal of Korean Institute of Intelligent Systems

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This work proposes a new method to generate velocity profile of a traction motor equipped in a rehabilitation system for knee joint patients through humanoid robot simulation. To this end, a three-dimensional full-body humanoid robot model is newly constructed, and natural human gait is simulated by applying to it reference joint angle trajectories already published. Linear velocity is derived from distance data calculated between the positions of a thigh band and its traction motor at every sampling instance, which is a novel idea of this paper. The projection rule is employed to kinematically describe the humanoid robot because of its high efficiency and accuracy, and measured joint trajectories are used in simulating human natural gait referring to Winter's book. The attained motor velocity profile for a certain position in human body will be applied to our walking-assistance system which is implemented with a treadmill system.

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“…These options include manual or roboticassisted treadmill training, as well as treadmill or overground training with or without electrical stimulation of the peroneal nerve [6]. Each training approach has its respective advantages and disadvantages; for example, robotic-assisted training provides stepping consistency but does not allow the movement variability associated with overground walking [7]. In addition, this therapeutic option is treadmill-based and, as a result, is not as taskspecific or transferable to daily living as overground training programs [5].…”

Section: Introductionmentioning

confidence: 99%

Muscle activation during body weight-supported locomotion while using the ZeroG

Fenuta

Hicks

2014

J Rehabil Res Dev

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Abstract-The ZeroG provides dynamic body weight support (BWS) using a harness while individuals with mobility impairments (e.g., spinal cord injury) ambulate overground. Muscle activity during locomotion using this device was studied in 13 nondisabled adults (age 23.8 +/-2.7 yr). Electromyography (EMG) recordings were collected from tibialis anterior (TA), medial gastrocnemius (MG), rectus femoris (RF), and biceps femoris muscles during randomized walking trials at preferred speeds under five levels of BWS (0%, 20%, 40%, 60%, 80%). Filtered EMG signals from each trial were normalized to 0% BWS and correlated with gait phases. Muscle activity, averaged across muscles, decreased significantly at heel strike by 33.4% with increasing BWS. Offloading significantly decreased heel strike activity of RF (62.8%), MG (35.5%), and TA (25.9%). Gait cycle completion time increased with BWS primarily because of increased swing phase time. These results summarizing the effect of BWS on muscle activation during ambulation can now be compared with clinical populations using the ZeroG.

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Kinematic trajectories while walking within the Lokomat robotic gait-orthosis

Cited by 173 publications

References 12 publications

A Walking Training System with Customizable Trajectory Designing

A Walking Training System with Customizable Trajectory Designing

Generation of Motor Velocity Profile for Walking-Assistance System Using Humanoid Robot Model

Muscle activation during body weight-supported locomotion while using the ZeroG

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