Restoration of Kids Leg Function Using Exoskeleton Robotic Leg (ExRoLEG) Device

Adib, Mohd Azrul Hisham Mohd; Han, Szeto Yang; Ramani, Prashant Raj; You, Low Jian; Yan, Law Ming; Sahat, Idris Mat; Hasni, Nur Hazreen Mohd

doi:10.1007/978-981-13-3708-6_28

Cited by 5 publications

(8 citation statements)

References 1 publication

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“…Fig. 10 confirms this finding, where five knee exoskeletons [28,29,30,31,32] and one KAFO [66] constitute the most common type (40%) of all the exoskeletons.…”

Section: A Mechanical Designsupporting

confidence: 62%

“…Table III presents the available information about these exoskeletons in terms of mechanical design, actuator type, clinical characteristics, and control algorithm. As seen in this table, the lightest single-joint exoskeleton is 1.6 kg [31], and the heaviest is 4 kg [122,32]. All of them have 2 DOF, where the DC motor is the common actuator among them.…”

Section: A Single-joint Lles For Children With Cpmentioning

confidence: 99%

“…In 2018, Mohd Adib et al developed a low-cost exoskeleton robotic leg (ExRoLEG) device for individuals affected by CP with GMFCS Level II and III to improve their walking pattern and speed up their rehabilitation process (Fig. 12 (f)) [32].…”

Section: 5) Knee Exoskeleton By Mohd Adib Et Al (Exroleg)mentioning

confidence: 99%

“…Most of them have indicated that ExRoLEG is comfortable and has good handling. However, ExRoLEG is too heavy for a child to carry [32].…”

Section: 5) Knee Exoskeleton By Mohd Adib Et Al (Exroleg)mentioning

confidence: 99%

“…It should be suitable for CP gait patterns (see section II.D); however, a very limited number of exoskeletons have been developed in this regard. Given crouch gait, characterized by excessive knee flexion, is the most prevalent gait disorder in CP [27], most of these devices are knee exoskeletons [28,29,30,31,32].…”

Section: Introductionmentioning

confidence: 99%

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Wearable Lower-Limb Exoskeleton for Children With Cerebral Palsy: A Systematic Review of Mechanical Design, Actuation Type, Control Strategy, and Clinical Evaluation

Sarajchi¹,

Al-Hares

Sirlantzis

2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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Children with a neurological disorder such as cerebral palsy (CP) severely suffer from a reduced quality of life because of decreasing independence and mobility. Although there is no cure yet, a lower-limb exoskeleton (LLE) has considerable potential to help these children experience better mobility during overground walking. The research in wearable exoskeletons for children with CP is still at an early stage. This paper shows that the number of published papers on LLEs assisting children with CP has significantly increased in recent years; however, no research has been carried out to review these studies systematically. To fill up this research gap, a systematic review from a technical and clinical perspective has been conducted, based on the PRISMA guidelines, under three extended topics associated with "lower limb", "exoskeleton", and "cerebral palsy" in the databases Scopus and Web of Science. After applying several exclusion criteria, seventeen articles focused on fifteen LLEs were included for careful consideration. These studies address some consistent positive evidence on the efficacy of LLEs in improving gait patterns in children with CP. Statistical findings show that knee exoskeletons, brushless DC motors, the hierarchy control architecture, and CP children with spastic diplegia are, respectively, the most common mechanical design, actuator type, control strategy, and clinical characteristics for these LLEs. Clinical studies suggest ankle-foot orthosis as the primary medical solution for most CP gait patterns; nevertheless, only one motorized ankle exoskeleton has been developed. This paper shows that more research and contribution are needed to deal with open challenges in these LLEs.

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“…Fig. 10 confirms this finding, where five knee exoskeletons [28,29,30,31,32] and one KAFO [66] constitute the most common type (40%) of all the exoskeletons.…”

Section: A Mechanical Designsupporting

confidence: 62%

Section: A Single-joint Lles For Children With Cpmentioning

confidence: 99%

Section: 5) Knee Exoskeleton By Mohd Adib Et Al (Exroleg)mentioning

confidence: 99%

“…Most of them have indicated that ExRoLEG is comfortable and has good handling. However, ExRoLEG is too heavy for a child to carry [32].…”

Section: 5) Knee Exoskeleton By Mohd Adib Et Al (Exroleg)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Wearable Lower-Limb Exoskeleton for Children With Cerebral Palsy: A Systematic Review of Mechanical Design, Actuation Type, Control Strategy, and Clinical Evaluation

Sarajchi¹,

Al-Hares

Sirlantzis

2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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Automatic Physio-Walker (PhyWalk) as a Rehabilitation Therapy for Children with Lower Disability

Adib

Rahim

Ariffin

et al. 2022

6th Kuala Lumpur International Conference on Biomedical Engineering 2021

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Deep Learning Models for Stable Gait Prediction Applied to Exoskeleton Reference Trajectories for Children With Cerebral Palsy

2023

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Gait trajectory prediction models have several applications in exoskeleton control; they can be used as feed-forward input to low-level controllers and to generate reference/target trajectories for position-controlled exoskeletons. In our study, we implement four deep learning models (LSTM, FCN, CNN and Transformer) that perform one-step-ahead gait trajectory prediction after training on gait patterns of typically developing children. We propose a methodology that optimises for stability in long-term forecasts, and evaluate the performance of the models on typically developing (TD) and Cerebral Palsy (CP) gait during recursive prediction of 200 time-steps in the future (which may lead to propagation of errors) and in the presence of varying levels of Gaussian noise (1%-5%). Results on TD gait show that the FCN and Transformer, with mean absolute errors (MAEs) for one-step-ahead predictions between 1.17°-1.63°, are the most suitable for the intended application. We also proposed an approach for generating adaptive trajectories that can be used as reference trajectories for position-controlled exoskeletons. Gait patterns from children with Cerebral Palsy were fed into gait trajectory prediction models trained on typically developing gait only, to generate corrective patterns. Preliminary results show that the gait patterns of typically developing children were introduced onto the generated trajectories.

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Restoration of Kids Leg Function Using Exoskeleton Robotic Leg (ExRoLEG) Device

Cited by 5 publications

References 1 publication

Wearable Lower-Limb Exoskeleton for Children With Cerebral Palsy: A Systematic Review of Mechanical Design, Actuation Type, Control Strategy, and Clinical Evaluation

Wearable Lower-Limb Exoskeleton for Children With Cerebral Palsy: A Systematic Review of Mechanical Design, Actuation Type, Control Strategy, and Clinical Evaluation

Automatic Physio-Walker (PhyWalk) as a Rehabilitation Therapy for Children with Lower Disability

Deep Learning Models for Stable Gait Prediction Applied to Exoskeleton Reference Trajectories for Children With Cerebral Palsy

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