Validation of a Forward Kinematics Based Controller for a mobile Tethered Pelvic Assist Device to Augment Pelvic Forces during Walking

Stramel, Danielle M.; Agrawal, Sunil K.

doi:10.1109/icra40945.2020.9196585

Cited by 11 publications

(20 citation statements)

References 17 publications

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“…A forward kinematics approach that uses the cable lengths is implemented to solve this problem. Although this method is less accurate, the errors in the x, y, and z directions were on average −0.17 cm, 0.79 cm, and −0.54 cm, respectively [32].…”

Section: A System Setupmentioning

confidence: 92%

“…The timed pelvic moments in this experiment were applied using the mTPAD [32], a parallel, cable-driven system with seven actuated cables, as shown in Fig. 1.…”

Section: A System Setupmentioning

confidence: 99%

“…Even with each of these alterations to the TPAD to create the mTPAD, the mTPAD can still apply specific forces to the user's pelvis [32]. This force is applied using seven cables that route from the mTPAD to the pelvic belt worn by the user.…”

Section: A System Setupmentioning

confidence: 99%

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Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System

Stramel

Prado

Roy

et al. 2023

IEEE Trans. Neural Syst. Rehabil. Eng.

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Robotic gait training may improve overground ambulation for individuals with poor control over pelvic motion. However, there is a need for an overground gait training robotic device that allows full control of pelvic movement and synchronizes applied forces to the user's gait. This work evaluates an overground robotic gait trainer that applies synchronized forces on the user's pelvis, the mobile Tethered Pelvic Assist Device. To illustrate one possible control scheme, we apply an assistive frontal plane pelvic moments synchronized with the user's continuous gait in real-time. Ten healthy adults walked with the robotic device, with and without frontal plane moments. The frontal plane moments corresponded to 10% of the user's body weight with a moment arm of half their pelvic width. The frontal plane moments significantly increased the range of frontal plane pelvic angles from 2.6°to 9.9°and the sagittal and transverse planes from 4.6°to 10.1°and 3.0°to 8.3°, respectively. The frontal plane moments also significantly increased the activation of the left gluteus medius muscle, which assists in regulating pelvic obliquity. The right gluteus medius muscle activation did not significantly differ when frontal plane moments were applied. This work highlights the ability of the mobile Tethered Pelvic Assist Device to apply a continuous pelvic moment that is synchronized with the user's gait cycle. This capability could change how overground robotic gait training strategies are designed and applied. The potential for gait training interventions that target gait deficits or muscle weakness can now be explored with the mobile Tethered Pelvic Assist Device.

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Section: A System Setupmentioning

confidence: 92%

“…The timed pelvic moments in this experiment were applied using the mTPAD [32], a parallel, cable-driven system with seven actuated cables, as shown in Fig. 1.…”

Section: A System Setupmentioning

confidence: 99%

See 1 more Smart Citation

Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System

Stramel

Prado

Roy

et al. 2023

IEEE Trans. Neural Syst. Rehabil. Eng.

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show abstract

“…This shows that the rehabilitation system should include both functionalities as the treadmill stationary system and an overground-type system to address the all-around gait rehabilitation. Therefore, some researchers have explored this issue by using a mobile-type system [ 18 , 19 , 20 ]. Seo [ 18 ] and Zou [ 19 ] have developed the drive wheel for autonomous movements.…”

Section: Introductionmentioning

confidence: 99%

“…Seo [ 18 ] and Zou [ 19 ] have developed the drive wheel for autonomous movements. MTPAD [ 20 ] does not use the drive wheel, and this system thus needs the patients to apply force to move.…”

Section: Introductionmentioning

confidence: 99%

Development of a Prototype Overground Pelvic Obliquity Support Robot for Rehabilitation of Hemiplegia Gait

Hwang

Lee

Shin

et al. 2022

Sensors

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In this work, we present the overground prototype gait-rehabilitation robot for using motion assistance and training for paralyzed patients. In contrast to the existing gait-rehabilitation robots, which focus on the sagittal plane motion of the hip and knee, we aim to develop a mobile-based pelvic support gait-rehabilitation system that includes a pelvic obliquity support mechanism and a lower-limb exoskeleton. To achieve this, a scissor mechanism is proposed to generate the paralyzed patient’s pelvic obliquity motion and weight support. Moreover, the lower limb exoskeleton robot is integrated with the developed system to provide the patient’s gait by correcting mechanical aids. We used computer-aided analysis to verify the performance of the prototype hardware itself. Through these methods, it was shown that our motor can sufficiently lift 100 kg of user weight through the scissor mechanism, and that the mobile driving wheel motor can operate at a speed of 1.6 m/s of human walking, showing that it can be used for gait rehabilitation of patients in need of a lower speed. In addition, we verified that the system drives the model by generating pelvic motion, and we verified the position controller of the integrated system, which supports the multi-degree motion by creating hip/knee/pelvic motion with a human dummy mannequin and systems. We believe that the proposed system can help address the complex rehabilitation motion assistance and training of paralyzed patients.

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Utilizing mobile robotics for pelvic perturbations to improve balance and cognitive performance in older adults: a randomized controlled trial

Adeniyi,

Stramel,

Rahman

et al. 2023

Sci Rep

Self Cite

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Late-life balance disorders remain a severe problem with fatal consequences. Perturbation-based balance training (PBT), a form of rehabilitation that intentionally introduces small, unpredictable disruptions to an individual's gait cycle, can improve balance. The Tethered Pelvic Assist Device (TPAD) is a cable-driven robotic trainer that applies perturbations to the user's pelvis during treadmill walking. Earlier work showcased improved gait stability and the first evidence of increased cognition acutely. The mobile Tethered Pelvic Assist Device (mTPAD), a portable version of the TPAD, applies perturbations to a pelvic belt via a posterior walker during overground gait, as opposed to treadmill walking. Forty healthy older adults were randomly assigned to a control group (CG, n = 20) without mTPAD PBT or an experimental group (EG, n = 20) with mTPAD PBT for a two-day study. Day 1 consisted of baseline anthropometrics, vitals, and functional and cognitive measurements. Day 2 consisted of training with the mTPAD and post-interventional cognitive and functional measurements. Results revealed that the EG significantly outperformed the CG in several cognitive (SDMT-C and TMT-B) and functional (BBS and 4-Stage Balance: one-foot stand) measurements while showcasing increased confidence in mobility based on FES-I. To our knowledge, our study is the first randomized, large group (n = 40) clinical study exploring new mobile perturbation-based robotic gait training technology.

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Validation of a Forward Kinematics Based Controller for a mobile Tethered Pelvic Assist Device to Augment Pelvic Forces during Walking

Cited by 11 publications

References 17 publications

Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System

Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System

Development of a Prototype Overground Pelvic Obliquity Support Robot for Rehabilitation of Hemiplegia Gait

Utilizing mobile robotics for pelvic perturbations to improve balance and cognitive performance in older adults: a randomized controlled trial

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