Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human

Barbareschi, Giulia; Richards, R.; Thornton, Matt; Carlson, Tom; Holloway, Catherine

doi:10.1109/embc.2015.7319937

Cited by 64 publications

(35 citation statements)

References 7 publications

(7 reference statements)

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“…Recently, 2 case studies have highlighted the impact of wearing a robotic exoskeleton on gait characteristics. In the first case study, the lower extremity range of motion (ROM) was generally smaller, with greater hip and knee power generation, for the exoskeleton gait [16]. However, in the second case study, improved symmetry on temporospatial variables and increased gait speed were indicated after robotic exoskeleton gait training in a person with stroke [17].…”

Section: Introductionmentioning

confidence: 99%

Walking With a Robotic Exoskeleton Does Not Mimic Natural Gait: A Within-Subjects Study

Swank¹,

Wang-Price²,

Gao³

et al. 2019

JMIR Rehabil Assist Technol

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Background Robotic exoskeleton devices enable individuals with lower extremity weakness to stand up and walk over ground with full weight-bearing and reciprocal gait. Limited information is available on how a robotic exoskeleton affects gait characteristics. Objective The purpose of this study was to examine whether wearing a robotic exoskeleton affects temporospatial parameters, kinematics, and muscle activity during gait. Methods The study was completed by 15 healthy adults (mean age 26.2 [SD 8.3] years; 6 males, 9 females). Each participant performed walking under 2 conditions: with and without wearing a robotic exoskeleton (EKSO). A 10-camera motion analysis system synchronized with 6 force plates and a surface electromyography (EMG) system captured temporospatial and kinematic gait parameters and lower extremity muscle activity. For each condition, data for 5 walking trials were collected and included for analysis. Results Differences were observed between the 2 conditions in temporospatial gait parameters of speed, stride length, and double-limb support time. When wearing EKSO, hip and ankle range of motion (ROM) were reduced and knee ROM increased during the stance phase. However, during the swing phase, knee and ankle ROM were reduced when wearing the exoskeleton bionic suit. When wearing EKSO, EMG activity decreased bilaterally in the stance phase for all muscle groups of the lower extremities and in the swing phase for the distal muscle groups (tibialis anterior and soleus) as well as the left medial hamstrings. Conclusions Wearing EKSO altered temporospatial gait parameters, lower extremity kinematics, and muscle activity during gait in healthy adults. EKSO appears to promote a type of gait that is disparate from normal gait in first-time users. More research is needed to determine the impact on gait training with EKSO in people with gait impairments.

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Section: Introductionmentioning

confidence: 99%

Walking With a Robotic Exoskeleton Does Not Mimic Natural Gait: A Within-Subjects Study

Swank¹,

Wang-Price²,

Gao³

et al. 2019

JMIR Rehabil Assist Technol

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show abstract

“…Based on the foregoing, and also taking into account the articles [10,11,12], the following conclusions can be made: 1. With a sharp change in the direction of movement (for small radii of curvature of the trajectory) the condition of lateral stability will be violated, the exoskeleton will lose its lateral stability and will turn over.…”

Section: Discussionmentioning

confidence: 99%

Assessment of the moment of stability when providing frontal stability of the exoskeleton

Andrianov¹,

Fishchenko²,

Kapustin³

2019

J Appl Eng Science

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In medical exoskeletons, it is necessary to support a stable vertical position of a person. Based on the use of mathematical modeling and theoretical mechanics methods, estimation of the moment of stability is performed while ensuring the frontal (lateral) stability of a person in a medical exoskeleton. This will allow to receive the maximum allowable safe speed, eliminating the fall in the frontal plane. Recommendations for providing frontal (lateral) stability are given.

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“…Otro inconveniente de los prototipos actuales, además de su elevado peso, es el precio. Éste puede cuantificarse en unos 50.000€ para el HAL, unos 70.000€ para el ReWalk y en hasta 150.000 € para el Rex [30]. La autonomía de los prototipos existentes es de unas 1-2 horas.…”

Section: F1 (Fuerza Del Cuerpo)unclassified

Design of a Lower-Limb Exoskeleton

Dunai

Lengua

García

2019

DYNAII

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In recent years, many mechanisms have been developed to help people with reduced mobility, especially for people who have injuries that do not allow the mobility of the lower body of the human body. In the present work, the properties and mechanical movements of a human being, angles of movement, extension and flexion of the hip, knee, etc. are described. A device has also been designed, using aluminum elements to give lightness and robustness to the exoskeleton. At the same time, an external casing made of PLA plastic has been developed, with all of which it has been tried to make a light exoskeleton with a low volume, with the aim that be of daily use for people with mobility problems. Five young students tested the exoskeleton in laboratory conditions. Different parameters have been evaluated as design, range of movement and the functionality. A series of characteristics has been defined such as the design improvement, functionality and navigation, the operating time, speed and data reading with myoelectric sensors after trials.

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Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human

Cited by 64 publications

References 7 publications

Walking With a Robotic Exoskeleton Does Not Mimic Natural Gait: A Within-Subjects Study

Walking With a Robotic Exoskeleton Does Not Mimic Natural Gait: A Within-Subjects Study

Assessment of the moment of stability when providing frontal stability of the exoskeleton

Design of a Lower-Limb Exoskeleton

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