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Cumplido-Trasmonte C, Barquín-Santos E, Gor-García-Fogeda MD, Plaza-Flores A, García-Varela D, Ibáñez-Herrán L, Alted-González C, Díaz-Valles P, López-Pascua C, Castrillo-Calvillo A, Molina-Rueda F, Fernández R, García-Armada E. Modularity Implications of an Overground Exoskeleton on Plantar Pressures, Strength, and Spasticity in Persons with Acquired Brain Injury. SENSORS (BASEL, SWITZERLAND) 2024; 24:1435. [PMID: 38474971 DOI: 10.3390/s24051435] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Revised: 02/16/2024] [Accepted: 02/20/2024] [Indexed: 03/14/2024]
Abstract
This study explored the effects of a modular overground exoskeleton on plantar pressure distribution in healthy individuals and individuals with Acquired Brain Injury (ABI). The research involved 21 participants, including ABI patients and healthy controls, who used a unique exoskeleton with adaptable modular configurations. The primary objective was to assess how these configurations, along with factors such as muscle strength and spasticity, influenced plantar pressure distribution. The results revealed significant differences in plantar pressures among participants, strongly influenced by the exoskeleton's modularity. Notably, significant distinctions were found between ABI patients and healthy individuals. Configurations with two modules led to increased pressure in the heel and central metatarsus regions, whereas configurations with four modules exhibited higher pressures in the metatarsus and hallux regions. Future research should focus on refining and customizing rehabilitation technologies to meet the diverse needs of ABI patients, enhancing their potential for functional recovery.
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Affiliation(s)
- Carlos Cumplido-Trasmonte
- International Doctoral School, Rey Juan Carlos University, 28922 Madrid, Spain
- Marsi Bionics SL, 28521 Madrid, Spain
| | | | - María Dolores Gor-García-Fogeda
- Marsi Bionics SL, 28521 Madrid, Spain
- Department of Physical Therapy, Occupational Therapy, Rehabilitation and Physical Medicine, Faculty of Health Sciences, Rey Juan Carlos University, 28922 Madrid, Spain
| | | | | | | | | | - Paola Díaz-Valles
- Spanish National Reference Centre for Brain Injury (CEADAC), 28034 Madrid, Spain
| | | | | | - Francisco Molina-Rueda
- Department of Physical Therapy, Occupational Therapy, Rehabilitation and Physical Medicine, Faculty of Health Sciences, Rey Juan Carlos University, 28922 Madrid, Spain
| | - Roemi Fernández
- Centre for Automation and Robotics (CAR), CSIC-UPM, Ctra. Campo Real km 0.2-La Poveda-Arganda del Rey, 28500 Madrid, Spain
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Song J, Zhu A, Tu Y, Zheng C, Cao G. Magnetorheological Damper With Variable Displacement Permanent Magnet for Assisting the Transfer of Load in Lower Limb Exoskeleton. IEEE Trans Neural Syst Rehabil Eng 2024; 32:43-52. [PMID: 38039179 DOI: 10.1109/tnsre.2023.3338969] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/03/2023]
Abstract
Magnetorheological (MR) fluid exhibits the ability to modulate its shear state through variations in magnetic field intensity, and is widely used for applications requiring damping. Traditional MR dampers use the current in the coil to adjust the magnetic field strength, but the accumulated heat can cause the magnetic field strength to decay if it works for a long time. In order to deal with this shortcoming, a novel MR damper is proposed in this paper, which is based on a variable displacement permanent magnet to adjust the output resistance torque and applied to an exoskeleton joint for human load transfer assistance. A finite element model is used to determine the size parameters of the magnet and separator, so that the maximum output torque is optimal and the torque is uniformly distributed with the magnet displacement. The MR damper was characterized and calibrated on the experimental bench to make it controllable. The novel design enables the torque mass density of the MR damper to reach 8.83Nmm/g, the torque volume density to reach 48.7N/mm2, and has stability for long-term operation. Based on the torque control method proposed, a preliminary human experiment is conducted. The ground reaction force (GRF) data of the subjects is analyzed here, which represents the effect of load transfer to the exoskeleton. Compared with no exoskeleton, the GRF with exoskeleton is significantly reduced: the peak GRF in early stance phase is reduced by 24.14%, and in late stance phase is reduced by 19.77%. Based on our net load benefit (NLB) and net force benefit (NFB) evaluation indicators, the effectiveness of the proposed MR damper exoskeleton for human weight bearing assistance is established.
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Cumplido-Trasmonte C, Barquín-Santos E, Gor-García-Fogeda MD, Plaza-Flores A, García-Varela D, Ibáñez-Herrán L, González-Alted C, Díaz-Valles P, López-Pascua C, Castrillo-Calvillo A, Molina-Rueda F, Fernandez R, Garcia-Armada E. STELO: A New Modular Robotic Gait Device for Acquired Brain Injury-Exploring Its Usability. SENSORS (BASEL, SWITZERLAND) 2023; 24:198. [PMID: 38203060 PMCID: PMC10781374 DOI: 10.3390/s24010198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/21/2023] [Revised: 12/21/2023] [Accepted: 12/27/2023] [Indexed: 01/12/2024]
Abstract
In recent years, the prevalence of acquired brain injury (ABI) has been on the rise, leading to impaired gait functionality in affected individuals. Traditional gait exoskeletons are typically rigid and bilateral and lack adaptability. To address this, the STELO, a pioneering modular gait-assistive device, was developed. This device can be externally configured with joint modules to cater to the diverse impairments of each patient, aiming to enhance adaptability and efficiency. This study aims to assess the safety and usability of the initial functional modular prototype, STELO, in a sample of 14 ABI-diagnosed participants. Adverse events, device adjustment assistance and time, and gait performance were evaluated during three sessions of device use. The results revealed that STELO was safe, with no serious adverse events reported. The need for assistance and time required for device adjustment decreased progressively over the sessions. Although there was no significant improvement in walking speed observed after three sessions of using STELO, participants and therapists reported satisfactory levels of comfort and usability in questionnaires. Overall, this study demonstrates that the STELO modular device offers a safe and adaptable solution for individuals with ABI, with positive user and therapist feedback.
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Affiliation(s)
- Carlos Cumplido-Trasmonte
- International Doctoral School, Rey Juan Carlos University, 28922 Madrid, Spain;
- Marsi Bionics SL, 28521 Madrid, Spain; (E.B.-S.); (A.P.-F.); (D.G.-V.); (L.I.-H.); (E.G.-A.)
| | - Eva Barquín-Santos
- Marsi Bionics SL, 28521 Madrid, Spain; (E.B.-S.); (A.P.-F.); (D.G.-V.); (L.I.-H.); (E.G.-A.)
| | - María Dolores Gor-García-Fogeda
- Marsi Bionics SL, 28521 Madrid, Spain; (E.B.-S.); (A.P.-F.); (D.G.-V.); (L.I.-H.); (E.G.-A.)
- Department of Physical Therapy, Physical Medicine and Rehabilitation, Faculty of Health Sciences, Rey Juan Carlos University, 28922 Madrid, Spain;
| | - Alberto Plaza-Flores
- Marsi Bionics SL, 28521 Madrid, Spain; (E.B.-S.); (A.P.-F.); (D.G.-V.); (L.I.-H.); (E.G.-A.)
| | - David García-Varela
- Marsi Bionics SL, 28521 Madrid, Spain; (E.B.-S.); (A.P.-F.); (D.G.-V.); (L.I.-H.); (E.G.-A.)
| | - Leticia Ibáñez-Herrán
- Marsi Bionics SL, 28521 Madrid, Spain; (E.B.-S.); (A.P.-F.); (D.G.-V.); (L.I.-H.); (E.G.-A.)
| | - Carlos González-Alted
- Spanish National Reference Centre for Brain Injury (CEADAC), 28034 Madrid, Spain; (C.G.-A.); (P.D.-V.)
| | - Paola Díaz-Valles
- Spanish National Reference Centre for Brain Injury (CEADAC), 28034 Madrid, Spain; (C.G.-A.); (P.D.-V.)
| | | | | | - Francisco Molina-Rueda
- Department of Physical Therapy, Physical Medicine and Rehabilitation, Faculty of Health Sciences, Rey Juan Carlos University, 28922 Madrid, Spain;
| | - Roemi Fernandez
- Centre for Automation and Robotics (CAR), CSIC-UPM, Ctra. Campo Real km 0.2–La Poveda-Arganda del Rey, 28500 Madrid, Spain
| | - Elena Garcia-Armada
- Marsi Bionics SL, 28521 Madrid, Spain; (E.B.-S.); (A.P.-F.); (D.G.-V.); (L.I.-H.); (E.G.-A.)
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Messara S, Manzoori AR, Di Russo A, Ijspeert A, Bouri M. Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941265 DOI: 10.1109/icorr58425.2023.10304758] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Exoskeletons intended for partial assistance of walking should be able to follow the gait pattern of their users, via online adaptive control strategies rather than imposing predefined kinetic or kinematic profiles. NeuroMuscular Controllers (NMCs) are adaptive strategies inspired by the neuromuscular modeling methods that seek to mimic and replicate the behavior of the human nervous system and skeletal muscles during gait. This study presents a novel design of a NMC, applied for the first time to partial assistance hip exoskeletons. Rather than the two-phase (stance/swing) division used in previous designs for the modulation of reflexes, a 5-state finite state machines is designed for gait phase synchronisation. The common virtual muscle model is also modified by assuming a stiff tendon, allowing for a more analytical computation approach for the muscle state resolution. As a first validation, the performance of the controller was tested with 9 healthy subjects walking at different speeds and slopes on a treadmill. The generated torque profiles show similarity to biological torques and optimal assistance profiles in the literature. Power output profiles of the exoskeleton indicate good synchronization with the users' intended movements, reflected in predominantly positive work by the assistance. The results also highlight the adaptability of the controller to different users and walking conditions, without the need for extensive parameter tuning.
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Vallinas A, Keemink A, Bayon C, van Asseldonk E, van der Kooij H. Momentum-Based Balance Control of a Lower-Limb Exoskeleton During Stance. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941272 DOI: 10.1109/icorr58425.2023.10304732] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
In this work, we present the implementation of a momentum-based balance controller in a lower-limb exoskeleton that can successfully reject perturbations and self-balance without any external aid. This controller is able to withstand pushes in the order of 30 N in forward and sideways directions with little sway. Additionally, with this controller, the system can perform balanced weight-shifting motions without the need for an explicit joint reference trajectory. There is potential, with fine parameter tuning, for a more robust balance performance that can reject stronger pushes during the presented tasks. Backward pushes were not rejected due to practical limitations (the mass of the device is concentrated in the back) rather than due to the control method itself. This controller is a preliminary result that brings paraplegic patients closer to crutch-free balance in a lower-limb exoskeleton.
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Lora-Millan JS, Nabipour M, van Asseldonk E, Bayón C. Advances on mechanical designs for assistive ankle-foot orthoses. Front Bioeng Biotechnol 2023; 11:1188685. [PMID: 37485319 PMCID: PMC10361304 DOI: 10.3389/fbioe.2023.1188685] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/17/2023] [Accepted: 06/27/2023] [Indexed: 07/25/2023] Open
Abstract
Assistive ankle-foot orthoses (AAFOs) are powerful solutions to assist or rehabilitate gait on humans. Existing AAFO technologies include passive, quasi-passive, and active principles to provide assistance to the users, and their mechanical configuration and control depend on the eventual support they aim for within the gait pattern. In this research we analyze the state-of-the-art of AAFO and classify the different approaches into clusters, describing their basis and working principles. Additionally, we reviewed the purpose and experimental validation of the devices, providing the reader with a better view of the technology readiness level. Finally, the reviewed designs, limitations, and future steps in the field are summarized and discussed.
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Affiliation(s)
| | - Mahdi Nabipour
- Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands
| | - Edwin van Asseldonk
- Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands
| | - Cristina Bayón
- Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands
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Afschrift M, van Asseldonk E, van Mierlo M, Bayon C, Keemink A, D'Hondt L, van der Kooij H, De Groote F. Assisting walking balance using a bio-inspired exoskeleton controller. J Neuroeng Rehabil 2023; 20:82. [PMID: 37370175 DOI: 10.1186/s12984-023-01205-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/09/2022] [Accepted: 06/19/2023] [Indexed: 06/29/2023] Open
Abstract
BACKGROUND Balance control is important for mobility, yet exoskeleton research has mainly focused on improving metabolic energy efficiency. Here we present a biomimetic exoskeleton controller that supports walking balance and reduces muscle activity. METHODS Humans restore balance after a perturbation by adjusting activity of the muscles actuating the ankle in proportion to deviations from steady-state center of mass kinematics. We designed a controller that mimics the neural control of steady-state walking and the balance recovery responses to perturbations. This controller uses both feedback from ankle kinematics in accordance with an existing model and feedback from the center of mass velocity. Control parameters were estimated by fitting the experimental relation between kinematics and ankle moments observed in humans that were walking while being perturbed by push and pull perturbations. This identified model was implemented on a bilateral ankle exoskeleton. RESULTS Across twelve subjects, exoskeleton support reduced calf muscle activity in steady-state walking by 19% with respect to a minimal impedance controller (p < 0.001). Proportional feedback of the center of mass velocity improved balance support after perturbation. Muscle activity is reduced in response to push and pull perturbations by 10% (p = 0.006) and 16% (p < 0.001) and center of mass deviations by 9% (p = 0.026) and 18% (p = 0.002) with respect to the same controller without center of mass feedback. CONCLUSION Our control approach implemented on bilateral ankle exoskeletons can thus effectively support steady-state walking and balance control and therefore has the potential to improve mobility in balance-impaired individuals.
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Affiliation(s)
- M Afschrift
- Department of Mechanical Engineering, Robotics Core Lab of Flanders Make, KU Leuven, Leuven, Belgium.
- Department of Human Movement Sciences, Vrije Universiteit Amsterdam, Amsterdam, The Netherlands.
| | - E van Asseldonk
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - M van Mierlo
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - C Bayon
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - A Keemink
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - L D'Hondt
- Department of Movement Sciences, KU Leuven, Leuven, Belgium
| | - H van der Kooij
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands
| | - F De Groote
- Department of Movement Sciences, KU Leuven, Leuven, Belgium
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Cumplido-Trasmonte C, Molina-Rueda F, Puyuelo-Quintana G, Plaza-Flores A, Hernández-Melero M, Barquín-Santos E, Destarac-Eguizabal MA, García-Armada E. Satisfaction analysis of overground gait exoskeletons in people with neurological pathology. a systematic review. J Neuroeng Rehabil 2023; 20:47. [PMID: 37072823 PMCID: PMC10111693 DOI: 10.1186/s12984-023-01161-4] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/28/2022] [Accepted: 03/30/2023] [Indexed: 04/20/2023] Open
Abstract
BACKGROUND People diagnosed with neurological pathology may experience gait disorders that affect their quality of life. In recent years, research has been carried out on a variety of exoskeletons in this population. However, the satisfaction perceived by the users of these devices is not known. Therefore, the objective of the present study is to evaluate the satisfaction perceived by users with neurological pathology (patients and professionals) after the use of overground exoskeletons. METHODS A systematic search of five electronic databases was conducted. In order to be included in this review for further analysis, the studies had to meet the following criteria: [1] the study population was people diagnosed with neurological pathology; [2] the exoskeletons had to be overground and attachable to the lower limbs; and [3]: the studies were to include measures assessing either patient or therapist satisfaction with the exoskeletons. RESULTS Twenty-three articles were selected, of which nineteen were considered clinical trials. Participants diagnosed with stroke (n = 165), spinal cord injury (SCI) (n = 102) and multiple sclerosis (MS) (n = 68). Fourteen different overground exoskeleton models were analysed. Fourteen different methods of assessing patient satisfaction with the devices were found, and three ways to evaluate it in therapists. CONCLUSION Users' satisfaction with gait overground exoskeletons in stroke, SCI and MS seems to show positive results in safety, efficacy and comfort of the devices. However, the worst rated aspects and therefore those that should be optimized from the users' point of view are ease of adjustment, size and weight, and ease of use.
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Affiliation(s)
- C Cumplido-Trasmonte
- Centre for Automation and Robotics (CAR), CSIC-UPM, Ctra Campo Real km 0.2 - La Poveda- Arganda del Rey, Madrid, 28500, Spain.
- International Doctoral School, Rey Juan Carlos University, Madrid, 28922, Spain.
| | - F Molina-Rueda
- Department of Physical Therapy, Physical Medicine and Rehabilitation, Rey Juan Carlos University, Madrid, Spain
| | - G Puyuelo-Quintana
- International Doctoral School, Rey Juan Carlos University, Madrid, 28922, Spain
- Marsi Bionics S.L., Madrid, Spain
| | - A Plaza-Flores
- Centre for Automation and Robotics (CAR), CSIC-UPM, Ctra Campo Real km 0.2 - La Poveda- Arganda del Rey, Madrid, 28500, Spain
- Marsi Bionics S.L., Madrid, Spain
- Polytechnic University of Madrid, Madrid, Spain
| | - M Hernández-Melero
- Centre for Automation and Robotics (CAR), CSIC-UPM, Ctra Campo Real km 0.2 - La Poveda- Arganda del Rey, Madrid, 28500, Spain
| | | | | | - E García-Armada
- Centre for Automation and Robotics (CAR), CSIC-UPM, Ctra Campo Real km 0.2 - La Poveda- Arganda del Rey, Madrid, 28500, Spain.
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Stampacchia G, Gazzotti V, Olivieri M, Andrenelli E, Bonaiuti D, Calabro RS, Carmignano SM, Cassio A, Fundaro C, Companini I, Mazzoli D, Cerulli S, Chisari C, Colombo V, Dalise S, Mazzoleni D, Melegari C, Merlo A, Boldrini P, Mazzoleni S, Posteraro F, Mazzucchelli M, Benanti P, Castelli E, Draicchio F, Falabella V, Galeri S, Gimigliano F, Grigioni M, Mazzon S, Molteni F, Morone G, Petrarca M, Picelli A, Senatore M, Turchetti G, Bizzarrini E. Gait robot-assisted rehabilitation in persons with spinal cord injury: A scoping review. NeuroRehabilitation 2022; 51:609-647. [PMID: 36502343 DOI: 10.3233/nre-220061] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Abstract
BACKGROUND Many robots are available for gait rehabilitation (BWSTRT and ORET) and their application in persons with SCI allowed an improvement of walking function. OBJECTIVE The aim of the study is to compare the effects of different robotic exoskeletons gait training in persons with different SCI level and severity. METHODS Sixty-two studies were included in this systematic review; the study quality was assessed according to GRADE and PEDro's scale. RESULTS Quality assessment of included studies (n = 62) demonstrated a prevalence of evidence level 2; the quality of the studies was higher for BWSTRT (excellent and good) than for ORET (fair and good). Almost all persons recruited for BWSTRT had an incomplete SCI; both complete and incomplete SCI were recruited for ORET. The SCI lesion level in the persons recruited for BWSTRT are from cervical to sacral; mainly from thoracic to sacral for ORET; a high representation of AIS D lesion resulted both for BWSTRT (30%) and for ORET (45%). The walking performance, tested with 10MWT, 6MWT, TUG and WISCI, improved after exoskeleton training in persons with incomplete SCI lesions, when at least 20 sessions were applied. Persons with complete SCI lesions improved the dexterity in walking with exoskeleton, but did not recover independent walking function; symptoms such as spasticity, pain and cardiovascular endurance improved. CONCLUSION Different exoskeletons are available for walking rehabilitation in persons with SCI. The choice about the kind of robotic gait training should be addressed on the basis of the lesion severity and the possible comorbidities.
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Affiliation(s)
| | - Valeria Gazzotti
- Centro Protesi Vigorso di Budrio, Istituto Nazionale Assicurazione Infortuni sul Lavoro (INAIL), Bologna, Italy
| | | | - Elisa Andrenelli
- Department of Experimental and Clinical Medicine, Università Politecnica delle Marche, Ancona, Italy
| | | | | | - Simona Maria Carmignano
- Rehabilitation Therapeutic Center (CTR), Potenza, Italy.,University of Salerno, Salerno, Italy
| | - Anna Cassio
- Spinal Cord Unit and Intensive Rehabilitation Medicine, Ospedale di Fiorenzuola d'Arda, AUSL Piacenza, Piacenza, Italy
| | - Cira Fundaro
- Neurophysiopathology Unit, Istituti Clinici Scientifici Maugeri, IRCCS Montescano, Pavia, Italy
| | - Isabella Companini
- Department of Neuromotor and Rehabilitation, LAM-Motion Analysis Laboratory, San Sebastiano Hospital, AUSL-IRCCS di Reggio Emilia, Reggio Emilia, Italy
| | - David Mazzoli
- Gait and Motion Analysis Laboratory, Sol et Salus Ospedale Privato Accreditato, Rimini, Italy
| | - Simona Cerulli
- Fondazione Policlinico Universitario Agostino Gemelli IRCCS, Rome, Italy
| | - Carmelo Chisari
- Department of Translational Research and New Technologies in Medicine and Surgery, Neurorehabiltation Section, University of Pisa, Pisa, Italy
| | | | - Stefania Dalise
- Department of Translational Research and New Technologies in Medicine and Surgery, Neurorehabiltation Section, University of Pisa, Pisa, Italy
| | - Daniele Mazzoleni
- School of Medicine and Surgery, University of Milano-Bicocca, Milan, Italy
| | | | - Andrea Merlo
- Gait and Motion Analysis Laboratory, Sol et Salus Ospedale Privato Accreditato, Rimini, Italy
| | - Paolo Boldrini
- Italian Society of Physical Medicine and Rehabilitation (SIMFER), Rome, Italy
| | - Stefano Mazzoleni
- Department of Electrical and Information Engineering, Politecnico di Bari, Bari, Italy
| | - Federico Posteraro
- Department of Rehabilitation, Versilia Hospital - AUSL12, Viareggio, Italy
| | | | | | - Enrico Castelli
- Department of Paediatric Neurorehabilitation, IRCCS Bambino Gesù Children's Hospital, Rome, Italy
| | - Francesco Draicchio
- Department of Occupational and Environmental Medicine Epidemiology and Hygiene, INAIL, Rome, Italy
| | - Vincenzo Falabella
- Italian Federation of Persons with Spinal Cord Injuries (FAIP Onlus), Rome, Italy
| | | | - Francesca Gimigliano
- Department of Mental, Physical Health and Preventive Medicine, University of Campania "Luigi Vanvitelli", Naples, Italy
| | - Mauro Grigioni
- National Center for Innovative Technologies in Public Health, Italian National Institute of Health, Rome, Italy
| | - Stefano Mazzon
- Rehabilitation Unit, ULSS (Local Health Authority) Euganea, Camposampiero Hospital, Padua, Italy
| | - Franco Molteni
- Department of Rehabilitation Medicine, Villa Beretta Rehabilitation Center, Valduce Hospital, Lecco, Italy
| | | | - Maurizio Petrarca
- Movement Analysis and Robotics Laboratory (MARlab), IRCCS Bambino Gesù Children's Hospital, Rome, Italy
| | - Alessandro Picelli
- Department of Neurosciences, Biomedicine and Movement Sciences, University of Verona, Verona, Italy
| | - Michele Senatore
- Associazione Italiana dei Terapisti Occupazionali (AITO), Rome, Italy
| | | | - Emiliana Bizzarrini
- Department of Rehabilitation Medicine, Spinal Cord Unit, Gervasutta Hospital, Azienda Sanitaria Universitaria Friuli Centrale (ASU FC), Udine, Italy
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Otálora S, Ballen-Moreno F, Arciniegas-Mayag L, Cifuentes CA, Múnera M. Biomechanical Effects of Adding an Ankle Soft Actuation in a Unilateral Exoskeleton. BIOSENSORS 2022; 12:bios12100873. [PMID: 36291010 PMCID: PMC9599070 DOI: 10.3390/bios12100873] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2022] [Revised: 09/01/2022] [Accepted: 09/05/2022] [Indexed: 06/01/2023]
Abstract
Stroke disease leads to a partial or complete disability affecting muscle strength and functional mobility. Early rehabilitation sessions might induce neuroplasticity and restore the affected function or structure of the patients. Robotic rehabilitation minimizes the burden on therapists by providing repetitive and regularly monitored therapies. Commercial exoskeletons have been found to assist hip and knee motion. For instance, unilateral exoskeletons have the potential to become an effective training system for patients with hemiparesis. However, these robotic devices leave the ankle joint unassisted, essential in gait for body propulsion and weight-bearing. This article evaluates the effects of the robotic ankle orthosis T-FLEX during cooperative assistance with the AGoRA unilateral lower-limb exoskeleton (hip and knee actuation). This study involves nine subjects, measuring muscle activity and gait parameters such as stance and swing times. The results showed a reduction in muscle activity in the Biceps Femoris of 50%, Lateral Gastrocnemius of 59% and Tibialis Anterior of 35% when adding T-FLEX to the AGoRA unilateral lower-limb exoskeleton. No differences were found in gait parameters. Nevertheless, stability is preserved when comparing the two legs. Future works should focus on evaluating the devices in ground tests in healthy subjects and pathological patients.
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Affiliation(s)
- Sophia Otálora
- Graduate Program of Electrical Engineering, Federal University of Espirito Santo, Vitoria 29075-910, Brazil
| | - Felipe Ballen-Moreno
- Robotics & Multibody Mechanics (R&MM) Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, 1050 Brussels, Belgium
- Flanders Make, 1050 Brussels, Belgium
| | - Luis Arciniegas-Mayag
- Graduate Program of Electrical Engineering, Federal University of Espirito Santo, Vitoria 29075-910, Brazil
| | - Carlos A. Cifuentes
- Bristol Robotics Laboratory, University of the West of England, Bristol BS16 1QY, UK
- School of Engineering, Science and Technology, Universidad del Rosario, Bogota 111711, Colombia
| | - Marcela Múnera
- Department of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogota 111166, Colombia
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11
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Nesler C, Thomas G, Divekar N, Rouse EJ, Gregg RD. Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses. IEEE Robot Autom Lett 2022; 7:6155-6162. [PMID: 36051565 PMCID: PMC9427014 DOI: 10.1109/lra.2022.3145580] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/05/2023]
Abstract
Mobility disabilities are prominent in society with wide-ranging deficits, motivating modular, partial-assist, lower-limb exoskeletons for this heterogeneous population. This paper introduces the Modular Backdrivable Lower-limb Unloading Exoskeleton (M-BLUE), which implements high torque, low mechanical impedance actuators on commercial orthoses with sheet metal modifications to produce a variety of hip- and/or knee-assisting configurations. Benchtop system identification verifies the desirable backdrive properties of the actuator, and allows for torque prediction within ±0.4 Nm. An able-bodied human subject experiment demonstrates that three unilateral configurations of M-BLUE (hip only, knee only, and hip-knee) with a simple gravity compensation controller can reduce muscle EMG readings in a lifting and lowering task relative to the bare condition. Reductions in mean muscular effort and peak muscle activation were seen across the primary squat musculature (excluding biceps femoris), demonstrating the potential to reduce fatigue leading to poor lifting posture. These promising results motivate applications of M-BLUE to additional populations, and the expansion of M-BLUE to bilateral and ankle configurations.
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Affiliation(s)
- Christopher Nesler
- Department of Electrical Engineering and Computer Science and the Robotics Institute
| | - Gray Thomas
- Department of Electrical Engineering and Computer Science and the Robotics Institute
| | - Nikhil Divekar
- Department of Electrical Engineering and Computer Science and the Robotics Institute
| | - Elliott J Rouse
- Department of Mechanical Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109
| | - Robert D Gregg
- Department of Electrical Engineering and Computer Science and the Robotics Institute
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12
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Prieto AV, Keemink AQL, van Asseldonk EHF, van der Kooij H. Feasible Wrench Set Computation for Legged Robots. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3184806] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Ander Vallinas Prieto
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Arvid Q. L. Keemink
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | | | - Herman van der Kooij
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
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13
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Material Extrusion Advanced Manufacturing of Helical Artificial Muscles from Shape Memory Polymer. MACHINES 2022. [DOI: 10.3390/machines10070497] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/05/2023]
Abstract
Rehabilitation and mobility assistance using robotic orthosis or exoskeletons have shown potential in aiding those with musculoskeletal disorders. Artificial muscles are the main component used to drive robotics and bio-assistive devices. However, current fabrication methods to produce artificial muscles are technically challenging and laborious for medical staff at clinics and hospitals. This study aims to investigate a printhead system for material extrusion of helical polymer artificial muscles. In the proposed system, an internal fluted mandrel within the printhead and a temperature control module were used simultaneously to solidify and stereotype polymer filaments prior to extrusion from the printhead with a helical shape. Numerical simulation was applied to determine the optimal printhead design, as well as analyze the coupling effects and sensitivity of the printhead geometries on artificial muscle fabrication. Based on the simulation analysis, the printhead system was designed, fabricated, and operated to extrude helical filaments using polylactic acid. The diameter, thickness, and pitch of the extruded filaments were compared to the corresponding geometries of the mandrel to validate the fabrication accuracy. Finally, a printed filament was programmed and actuated to test its functionality as a helical artificial muscle. The proposed printhead system not only allows for the stationary extrusion of helical artificial muscles but is also compatible with commercial 3D printers to freeform print helical artificial muscle groups in the future.
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14
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Ugurlu B, Sariyildiz E, Kansizoglu AT, Ozcinar EC, Coruk S. Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator. IEEE ROBOTICS & AUTOMATION MAGAZINE 2022; 29:85-96. [DOI: 10.1109/mra.2021.3124154] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/01/2023]
Affiliation(s)
- Barkan Ugurlu
- Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey
| | - Emre Sariyildiz
- School of Mechanical, Materials, Mechatronics and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia
| | - Ahmet Talha Kansizoglu
- Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey
| | - Erim Can Ozcinar
- Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey
| | - Sinan Coruk
- Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey
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15
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Durandau G, Rampeltshammer WF, Kooij HVD, Sartori M. Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2022.3170239] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Guillaume Durandau
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
| | - Wolfgang F. Rampeltshammer
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
| | - Herman van der Kooij
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
| | - Massimo Sartori
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
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16
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A Three-Step Hill Neuromusculoskeletal Model Parameter Identification Method Based on Exoskeleton Robot. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01585-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022]
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17
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A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12052395] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/26/2022]
Abstract
Exoskeleton robots are electrically, pneumatically, or hydraulically actuated devices that externally support the bones and cartilage of the human body while trying to mimic the human movement capabilities and augment muscle power. The lower extremity exoskeleton device may support specific human joints such as hip, knee, and ankle, or provide support to carry and balance the weight of the full upper body. Their assistive functionality for physically-abled and disabled humans is demanded in medical, industrial, military, safety applications, and other related fields. The vision of humans walking with an exoskeleton without external support is the prospect of the robotics and artificial intelligence working groups. This paper presents a survey on the design and control of lower extremity exoskeletons for bipedal walking. First, a historical view on the development of walking exoskeletons is presented and various lower body exoskeleton designs are categorized in different application areas. Then, these designs are studied from design, modeling, and control viewpoints. Finally, a discussion on future research directions is provided.
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18
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Bayón C, Keemink AQL, van Mierlo M, Rampeltshammer W, van der Kooij H, van Asseldonk EHF. Cooperative ankle-exoskeleton control can reduce effort to recover balance after unexpected disturbances during walking. J Neuroeng Rehabil 2022; 19:21. [PMID: 35172846 PMCID: PMC8851842 DOI: 10.1186/s12984-022-01000-y] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/18/2021] [Accepted: 02/02/2022] [Indexed: 11/10/2022] Open
Abstract
Background In the last two decades, lower-limb exoskeletons have been developed to assist human standing and locomotion. One of the ongoing challenges is the cooperation between the exoskeleton balance support and the wearer control. Here we present a cooperative ankle-exoskeleton control strategy to assist in balance recovery after unexpected disturbances during walking, which is inspired on human balance responses. Methods We evaluated the novel controller in ten able-bodied participants wearing the ankle modules of the Symbitron exoskeleton. During walking, participants received unexpected forward pushes with different timing and magnitude at the pelvis level, while being supported (Exo-Assistance) or not (Exo-NoAssistance) by the robotic assistance provided by the controller. The effectiveness of the assistive strategy was assessed in terms of (1) controller performance (Detection Delay, Joint Angles, and Exerted Ankle Torques), (2) analysis of effort (integral of normalized Muscle Activity after perturbation onset); and (3) Analysis of center of mass COM kinematics (relative maximum COM Motion, Recovery Time and Margin of Stability) and spatio-temporal parameters (Step Length and Swing Time). Results In general, the results show that when the controller was active, it was able to reduce participants’ effort while keeping similar ability to counteract and withstand the balance disturbances. Significant reductions were found for soleus and gastrocnemius medialis activity of the stance leg when comparing Exo-Assistance and Exo-NoAssistance walking conditions. Conclusions The proposed controller was able to cooperate with the able-bodied participants in counteracting perturbations, contributing to the state-of-the-art of bio-inspired cooperative ankle exoskeleton controllers for supporting dynamic balance. In the future, this control strategy may be used in exoskeletons to support and improve balance control in users with motor disabilities. Supplementary Information The online version contains supplementary material available at 10.1186/s12984-022-01000-y.
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Affiliation(s)
- Cristina Bayón
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.
| | - Arvid Q L Keemink
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Michelle van Mierlo
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | | | - Herman van der Kooij
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Department of BioMechanical Engineering, Delft University of Technology, Delft, The Netherlands
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19
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Keemink AQL, Brug TJH, van Asseldonk EHF, Wu AR, van der Kooij H. Whole Body Center of Mass Feedback in a Reflex-Based Neuromuscular Model Predicts Ankle Strategy During Perturbed Walking. IEEE Trans Neural Syst Rehabil Eng 2021; 29:2521-2529. [PMID: 34847033 DOI: 10.1109/tnsre.2021.3131366] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Active prosthetic and orthotic devices have the potential to increase quality of life for individuals with impaired mobility. However, more research into human-like control methods is needed to create seamless interaction between device and user. In forward simulations the reflex-based neuromuscular model (RNM) by Song and Geyer shows promising similarities with real human gait in unperturbed conditions. The goal of this work was to validate and, if needed, extend the RNM to reproduce human kinematics and kinetics during walking in unperturbed and perturbed conditions. The RNM was optimized to reproduce joint torque, calculated with inverse dynamics, from kinematic and force data of unperturbed and perturbed treadmill walking of able-bodied human subjects. Torques generated by the RNM matched closely with torques found from inverse dynamics analysis on human data for unperturbed walking. However, for perturbed walking the modulation of the ankle torque in the RNM was opposite to the modulation observed in humans. Therefore, the RNM was extended with a control module that activates and inhibits muscles around the ankle of the stance leg, based on changes in whole body center of mass velocity. The added module improves the ability of the RNM to replicate human ankle torque response in response to perturbations. This reflex-based neuromuscular model with whole body center of mass velocity feedback can reproduce gait kinetics of unperturbed and perturbed gait, and as such holds promise as a basis for advanced controllers of prosthetic and orthotic devices.
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20
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Laffranchi M, D'Angella S, Vassallo C, Piezzo C, Canepa M, De Giuseppe S, Di Salvo M, Succi A, Cappa S, Cerruti G, Scarpetta S, Cavallaro L, Boccardo N, D'Angelo M, Marchese C, Saglia JA, Guanziroli E, Barresi G, Semprini M, Traverso S, Maludrottu S, Molteni F, Sacchetti R, Gruppioni E, De Michieli L. User-Centered Design and Development of the Modular TWIN Lower Limb Exoskeleton. Front Neurorobot 2021; 15:709731. [PMID: 34690732 PMCID: PMC8529015 DOI: 10.3389/fnbot.2021.709731] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/14/2021] [Accepted: 08/31/2021] [Indexed: 11/13/2022] Open
Abstract
For decades, powered exoskeletons have been considered for possible employment in rehabilitation and personal use. Yet, these devices are still far from addressing the needs of users. Here, we introduce TWIN, a novel modular lower limb exoskeleton for personal use of spinal-cord injury (SCI) subjects. This system was designed according to a set of user requirements (lightweight and autonomous portability, quick and autonomous donning and setup, stability when standing/walking, cost effectiveness, long battery life, comfort, safety) which emerged during participatory investigations that organically involved patients, engineers, designers, physiatrists, and physical therapists from two major rehabilitation centers in Italy. As a result of this user-centered process, TWIN's design is based on a variety of small mechatronic modules which are meant to be easily assembled and donned on or off by the user in full autonomy. This paper presents the development of TWIN, an exoskeleton for personal use of SCI users, and the application of user-centered design methods that are typically adopted in medical device industry, for its development. We can state that this approach revealed to be extremely effective and insightful to direct and continuously adapt design goals and activities toward the addressment of user needs, which led to the development of an exoskeleton with modular mechatronics and novel lateral quick release systems. Additionally, this work includes the preliminary assessment of this exoskeleton, which involved healthy volunteers and a complete SCI patient. Tests validated the mechatronics of TWIN and emphasized its high potential in terms of system usability for its intended use. These tests followed procedures defined in existing standards in usability engineering and were part of the formative evaluation of TWIN as a premise to the summative evaluation of its usability as medical device.
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Affiliation(s)
- Matteo Laffranchi
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Stefano D'Angella
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | | | - Chiara Piezzo
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Michele Canepa
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | | | - Mirco Di Salvo
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Antonio Succi
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Samuele Cappa
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Giulio Cerruti
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Silvia Scarpetta
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Lorenzo Cavallaro
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Nicolò Boccardo
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | | | - Claudia Marchese
- Centro Protesi INAIL, Istituto Italiano per l'Assicurazione contro gli Infortuni sul Lavoro, Vigorso di Budrio, Italy
| | - Jody A Saglia
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | | | - Giacinto Barresi
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Marianna Semprini
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | - Simone Traverso
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genova, Italy
| | | | - Franco Molteni
- Villa Beretta Rehabilitation Centre, Valduce Hospital, Costa Masnaga, Italy
| | - Rinaldo Sacchetti
- Centro Protesi INAIL, Istituto Italiano per l'Assicurazione contro gli Infortuni sul Lavoro, Vigorso di Budrio, Italy
| | - Emanuele Gruppioni
- Centro Protesi INAIL, Istituto Italiano per l'Assicurazione contro gli Infortuni sul Lavoro, Vigorso di Budrio, Italy
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21
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He Y, Liu J, Li F, Cao W, Wu X. Design and analysis of a lightweight lower extremity exoskeleton with novel compliant ankle joints. Technol Health Care 2021; 30:881-894. [PMID: 34657860 DOI: 10.3233/thc-213177] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
BACKGROUND The exoskeleton for lower limb rehabilitation is an uprising field of robot technology. However, since it is difficult to achieve all the optimal design values at the same time, each lower extremity exoskeleton has its own focus. OBJECTIVE This study aims to develop a modular lightweight lower extremity exoskeleton (MOLLEE) with novel compliant ankle joints, and evaluate the movement performance through kinematics analysis. METHODS The overall structure of the exoskeleton was proposed and the adjustable frames, active joint modules, and compliant ankle joints were designed. The forward and inverse kinematics models were established based on the geometric method. The theoretical models were validated by numerical simulations in ADAMS, and the kinematic performance was demonstrated through walking experiments. RESULTS The proposed lower extremity offers six degrees of freedom (DoF). The exoskeleton frame was designed adjustable to fit wearers with a height between 1.55 m and 1.80 m, and waist width from 37 cm to 45 cm. The joint modules can provide maximum torque at 107 Nm for adequate knee and hip joint motion forces. The compliant ankle can bear large flexible deformation, and the relationship between its angular deformation and the contact force can be fitted with a quadratic polynomial function. The kinematics models were established and verified through numerical simulations, and the walking experiments in different action states have shown the expected kinematic characteristics of the designed exoskeleton. CONCLUSIONS The proposed MOLLEE exoskeleton is adjustable, modular, and compliant. The designed adjustable frame and compliant ankle can ensure comfort and safety for different wearers. In addition, the kinematics characteristics of the exoskeleton can meet the needs of daily rehabilitation activities.
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Affiliation(s)
- Yong He
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, Guangdong, China.,Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Jingshuai Liu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Feng Li
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Wujing Cao
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Xinyu Wu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
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22
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Wu AR. Human biomechanics perspective on robotics for gait assistance: challenges and potential solutions. Proc Biol Sci 2021; 288:20211197. [PMID: 34344175 DOI: 10.1098/rspb.2021.1197] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Technological advancements in robotic devices have the potential to transform human mobility through gait assistance. However, the integration of physical hardware and software control algorithms with users to assist with impaired gait poses several challenges, such as allowing the user to adopt a variety of gaits and the process for evaluating the efficacy and performance of these assistive devices. Here, I discuss some of the challenges in the development of assistive devices and the use of biomechanical concepts and tools for control and test validation. Several potential solutions are proposed through the case study of one project that aimed to provide gait assistance for individuals with a spinal cord injury. Further challenges and future directions are discussed, with emphasis that diverse perspectives and approaches in gait assistance will accelerate engineering solutions towards regaining mobility.
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Affiliation(s)
- Amy R Wu
- Ingenuity Labs Research Institute, Department of Mechanical and Materials Engineering, Queen's University, Kingston, Ontario, Canada
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23
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Soliman AF, Ugurlu B. Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3082016] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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