Mech-Walker:A Novel Single-DOF Linkage Device With Movable Frame for Gait Rehabilitation

Haghjoo, Mohammad Reza; Lee, Hosu; Afzal, Muhammad Raheel; Eizad, Amre; Yoon, Jungwon

doi:10.1109/tmech.2020.2993799

Cited by 20 publications

(9 citation statements)

References 36 publications

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“…The Mech-Walker [79] is an eight-bar linkage end-effector based on a Jansen eight-bar mechanism (Figure 7). Its synthesis is performed using the ankle path, considering position and time (prescribed timing).…”

Section: Planar Higher-order Linkages and Spatial Linkagesmentioning

confidence: 99%

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A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

Paiva,

Gonçalves,

Carbone

2024

Robotics

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This study aims to provide a comprehensive critical review of the existing body of evidence pertaining to gait rehabilitation. It also seeks to introduce a systematic approach for the development of innovative design solutions in this domain. The field of gait rehabilitation has witnessed a surge in the development of novel robotic devices. This trend has emerged in response to limitations observed in most commercial solutions, particularly regarding their high costs. Consequently, there is a growing need to explore more cost-effective alternatives and create opportunities for greater accessibility. Within the realm of cost-effective options, linkage-based gait trainers have emerged as viable alternatives, prompting a thorough examination of this category, which is carried out in this work. Notably, there is a wide heterogeneity in research approaches and presentation methods. This divergence has prompted discourse regarding the standardization of key elements relevant to the proposals of new linkage-based devices. As a result, this study proposes a comprehensive and standardized design process and offers a brief illustration of the application of this design process through the presentation of a potential new design.

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Section: Planar Higher-order Linkages and Spatial Linkagesmentioning

confidence: 99%

“…Synthesis/Optimization Accuracy Measure Gait Baseline Seven-bar [77] Genetic algorithm Average residuals Dataset [78] Eight-bar [79] Global optimization (MultiStart)…”

Section: Linkage Topologymentioning

confidence: 99%

A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

Paiva,

Gonçalves,

Carbone

2024

Robotics

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“…The proposed device is used in the pilot study with a treadmill (Movement R4, 1250 × 440 mm, speed 1 to 14km/h), utilized to forward propulsion and simulate the gait together with the serious game developed. The use of the treadmill is justified in the function of the availability of this device in rehabilitation clinics [30].…”

Section: Implementation Of Bwsmentioning

confidence: 99%

Development of a novel body weight support system for gait rehabilitation

Rodrigues

Gonçalves²

2022

Robotica

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Modern rehabilitation processes for neurological patients have been widely assisted by robotic structures, with continuous research and improvements. The use of robotic assistance in rehabilitation is a consolidated technique for upper limb training sessions. However, human gait robotic rehabilitation still needs further research and development. Based on that, this paper deals with the development of a novel active body weight support (BWS) system integrated with a serious game for poststroke patients. This paper starts with a brief review of the state of the art of applied technologies for gait rehabilitation. Next, it presents the obtained mathematical model followed by multibody synthesis techniques and meta-heuristic optimization to the proposed device. The control of the structure is designed using proportional integral derivative (PID) controllers tuned with meta-heuristic optimization and associated with a suppression function to perform assist-as-needed actions. Then, the prototype is integrated with a serious game designed specifically for this application. Finally, a pilot study is conducted with the structure and healthy volunteers. The results obtained show that the mobility of the novel BWS is as expected and the proposed system potentially offers a novel tool for gait training.

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“…Mech-Walker is a lower extremity gait rehabilitation robot with a single actuator, which is based on an optimized eight-bar Jansen's mechanism to generate a natural ankle trajectory during walking. However, the mechanism is also complicated and bulky for families [13]. A five degree-of-freedom (DOF) hybrid end-traction lower limb rehabilitation robot was designed for double-posture training (sitting posture/lying posture), but more appropriate EMG signal processing methods should be developed for the robot to complete more precise actions [14].…”

Section: Introductionmentioning

confidence: 99%

Design and Optimization of Multifunctional Human Motion Rehabilitation Training Robot EEGO

Liu,

Ji,

Liu

et al. 2023

Actuators

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A multifunctional human motion rehabilitation training robot named EEGO (electric easy go) that could achieve four functions through structural transformation was designed. The four functions achieved by four working modes: the Supporting Posture Mode (SM), the Grasping Posture Mode (GM), the Riding Posture Mode (RM), and the Pet Mode (PM), which are suitable for patients in the middle and late stages of rehabilitation. The size of the equipment under different functions is determined by the height of different postures of the human. During the design process, the equipment was lightweight using size optimization methods, resulting in a 47.3% reduction in mass compared to the original design. Based on the Zero Moment Point (ZMP) stability principle, the stability mechanism of the robot was verified under the three different functions. According to the wanted function of the equipment, the control system of the equipment was designed. Finally, a prototype was prepared based on the analysis and design results for experimental verification, which can effectively assist patients in motion rehabilitation training such as gait, walking, and other movements.

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Mech-Walker:A Novel Single-DOF Linkage Device With Movable Frame for Gait Rehabilitation

Cited by 20 publications

References 36 publications

A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

Development of a novel body weight support system for gait rehabilitation

Design and Optimization of Multifunctional Human Motion Rehabilitation Training Robot EEGO

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