Stair ascent assistance for cerebral palsy with robot suit HAL

Taketomi, Takumi; Sankai, Yoshiyuki

doi:10.1109/sii.2012.6427274

Cited by 25 publications

(13 citation statements)

References 10 publications

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“…A good clinical practice-adherent clinical trial was conducted in ten facilities for slow, progressive, rare neuromuscular diseases, and HAL is considered to have a certain level of efficacy with acceptable safety from regulatory authority’s review report 34 , 35 ) . However, there are only a few reports about the effect of RAGT using HAL for CP patients 36 , 37 ) .…”

Section: Introductionmentioning

confidence: 99%

Immediate effects of a single session of robot-assisted gait training using Hybrid Assistive Limb (HAL) for cerebral palsy

et al. 2018

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[Purpose] Robot-assisted gait training (RAGT) using Hybrid Assistive Limb (HAL, CYBERDYNE) was previously reported beneficial for stroke and spinal cord injury patients. Here, we investigate the immediate effect of a single session of RAGT using HAL on gait function for cerebral palsy (CP) patients. [Subjects and Methods] Twelve patients (average age: 16.2 ± 7.3 years) with CP received a single session of RAGT using HAL. Gait speed, step length, cadence, single-leg support per gait cycle, hip and knee joint angle in stance, and swing phase per gait cycle were assessed before, during, and immediately after HAL intervention. [Results] Compared to baseline values, single-leg support per gait cycle (64.5 ± 15.8% to 69.3 ± 12.1%), hip extension angle in mid-stance (149.2 ± 19.0° to 155.5 ± 20.1°), and knee extension angle in mid-stance (137.6 ± 20.2° to 143.1 ± 19.5°) were significantly increased immediately after intervention. Further, the knee flexion angle in mid-swing was significantly decreased immediately after treatment (112.0 ± 15.5° to 105.2 ± 17.1°). Hip flexion angle in mid-swing also decreased following intervention (137.2 ± 14.6° to 129.7 ± 16.6°), but not significantly. Conversely, gait speed, step length, and cadence were unchanged after intervention. [Conclusion] A single-time RAGT with HAL improved single-leg support per gait cycle and hip and knee joint angle during gait, therapeutically improving gait function in CP patients.

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Section: Introductionmentioning

confidence: 99%

Immediate effects of a single session of robot-assisted gait training using Hybrid Assistive Limb (HAL) for cerebral palsy

et al. 2018

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“…More than 185 HAL ® have been introduced to Japanese medical institutions for the purpose of rehabilitation 5 ) . Several studies have reported on the effectiveness of robot-assisted gait training in improving walking speed, step length, muscle strength, balance and patient’s motivation for treatment 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 ) . However, there has been minimal research 13 ) of the effectiveness of robot-assisted rehabilitation for sit-to-stand (STS) and standing movements.…”

Section: Introductionmentioning

confidence: 99%

The effect of a hybrid assistive limb<sup>®</sup> on sit-to-stand and standing patterns of stroke patients

Kasai

Takeda

2016

J Phys Ther Sci

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[Purpose] The Hybrid Assistive Limb® (HAL®) robot suit is a powered exoskeleton that can assist a user’s lower limb movement. The purpose of this study was to assess the effectiveness of HAL® in stroke rehabilitation, focusing on the change of the sit-to-stand (STS) movement pattern and standing posture. [Subjects and Methods] Five stroke patients participated in this study. Single leg HAL® was attached to each subject’s paretic lower limb. The subjects performed STS three times both with and without HAL® use. A tri-axial accelerometer was used to assess the STS movement pattern. Forward-tilt angle (FTA) and the time required for STS were measured with and without HAL® use. Surface electromyography (EMG) of STS and standing were recorded to assess the vastus medialis muscle activities of the paretic limb. [Results] The average FTA without HAL® use was 35° and it improved to 43° with HAL® use. The time required for STS was longer for all subjects with HAL® use (without HAL® use: 3.42 s, with HAL® use: 5.11 s). The integrated EMGs of HAL® use compared to those without HAL®, were 83.6% and 66.3% for STS and standing, respectively. [Conclusion] HAL® may be effective in improving STS and standing patterns of stroke patients.

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“…The Indego can assist paraplegia patients sitting, standing, and walking [3]. HAL is designed for several applications [4, 5]. It helps the gait‐disorder patients walking and provides augmentation.…”

Section: Introductionmentioning

confidence: 99%

c ² AIDER : cognitive cloud exoskeleton system and its applications

Wang

Cheng

Hou

2019

Cognitive Computation and Systems

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Lower extremity exoskeleton systems have been widely applied in walking assistance, rehabilitation, and augmentation-related applications merely through human-exoskeleton movement collaboration, which cannot analyse cognitive load and pressure of pilots. Cognitive exoskeleton systems can reinforce cognitive cooperation of the human-exoskeleton systems through perception and assessment. Cognitive cloud exoskeleton systems can enhance the ability of the continuous learning and transfer learning of the exoskeleton systems through cloud brain platform. This paper presents a cognitive cloud exoskeleton system Cognitive Cloud AssItive DEvice for paralysed patient (c 2 AIDER). The main idea is that the cooperation between the c 2 AIDER system and pilots is more intelligent and natural through cloud brain platform, which can achieve highperformance computing thus providing better walking assistance for pilots.

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Stair ascent assistance for cerebral palsy with robot suit HAL

Cited by 25 publications

References 10 publications

Immediate effects of a single session of robot-assisted gait training using Hybrid Assistive Limb (HAL) for cerebral palsy

Immediate effects of a single session of robot-assisted gait training using Hybrid Assistive Limb (HAL) for cerebral palsy

The effect of a hybrid assistive limb<sup>®</sup> on sit-to-stand and standing patterns of stroke patients

c ² AIDER : cognitive cloud exoskeleton system and its applications

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Stair ascent assistance for cerebral palsy with robot suit HAL

Cited by 25 publications

References 10 publications

Immediate effects of a single session of robot-assisted gait training using Hybrid Assistive Limb (HAL) for cerebral palsy

Immediate effects of a single session of robot-assisted gait training using Hybrid Assistive Limb (HAL) for cerebral palsy

The effect of a hybrid assistive limb<sup>®</sup> on sit-to-stand and standing patterns of stroke patients

c 2 AIDER : cognitive cloud exoskeleton system and its applications

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c ² AIDER : cognitive cloud exoskeleton system and its applications