The influence of different Lokomat walking conditions on the energy expenditure of hemiparetic patients and healthy subjects

Enhanced Gait-Related Improvements After Therapist- Versus Robotic-Assisted Locomotor Training in Subjects With Chronic Stroke

“…Whether reduced sagittal plane assistance at the limbs is sufficient to elicit large changes in locomotor function is unknown, particularly in light of the contribution of propulsive forces to gait speed and symmetry in hemiparetic subjects. 32,44 Recent data in hemiparetic subjects during robotic-assisted stepping using different control algorithms which decrease limb assistance did not alter metabolic activity, 45 suggesting little expected difference with prolonged training. Moreover, whether sophisti-cated devices are required to provide assistance during LT is still uncertain, however, as simple "mechanical" assistance at the limb has been shown to be equally effective as a manual facilitation technique to approximate normal gait kinematics poststroke.…”

Intervenção fisioterapêutica com suporte parcial de peso em indivíduos pós-ave: revisão sistemática

“…É uma órtese de marcha acionada eletricamente, composta por um suporte para o quadril e duas órteses para perna criada com o objetivo de reduzir a carga de trabalho e melhorar o treino em esteira para terapeutas e pacientes, originalmente desenvolvido para pacientes com lesão de medula espinhal, oferece um ambiente mais favorável, no qual os pacientes severamente afetados possam praticar movimento de marcha a uma velocidade quase normal e esse treino pode se realizado regularmente por um longo período. Vários estudos documentaram sua eficácia (HESSE, 2006;KREWER et al, 2007;SCHMIDT et al, 2007). É importante ressaltar que o uso do treino em esteira com SPP tem contraindicações relativas: fatores de risco para cardiopatias, história recente de trombose venosa profunda (TVP) e contraturas articulares ou artroses (HESSE et al, 2003).…”

Adaptive body weight support controls human activity during robot-aided gait training

“…Currently, the algorithm is mainly limited by the very simple measure for gait quality defined in (16). If the Lokomat legs are controlled rigidly (position control or impedance control with high stiffness), the elastic coupling between the Lokomat leg and the human leg causes model inaccuracies.…”

“…Partial body weight support (BWS) is important to facilitate successful walking and to allow the patient to successfully employ their limited abilities [14]. On the other hand, it is desirable to load the patient's stance leg as much as possible to maximize afferent input to the nervous system [15] and physical activity [16]. A bio-cooperative controller for the BWS should fulfill two main requirements.…”