Kinetic analysis of supine stepping for early rehabilitation of walking

Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation

In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs. However, a well-controlled assistance or resistance is desirable for effective walking relearning and muscle training. To achieve well-controlled force during locomotion training with the robowalk expander, we replaced the elastic bands with actuator-driven cables and implemented force control algorithms for regulation of cable tensions. The aim of this work was to develop an active cable-driven robotic system, and to evaluate force control strategies for walking rehabilitation using frequency-domain analysis. The system parameters were determined through experiment-assisted simulation. Then force-feedback lead controllers were developed for static force tracking, and velocity-feedforward lead compensators were implemented to reduce velocity-related disturbances during walking. The technical evaluation of the active cable-driven robotic system showed that force-feedback lead controllers produced satisfactory force tracking in the static tests with a mean error of 5.5%, but in the dynamic tests, a mean error of 13.2% was observed. Further implementation of the velocity-feedforward lead compensators reduced the force tracking error to 9% in dynamic tests. With the combined control algorithms, the active cable-driven robotic system produced constant force within the four cables during walking on the treadmill, with a mean force-tracking error of 10.3%. This study demonstrates that the force control algorithms are technically feasible. The active cable-driven, force-controlled robotic system has the potential to produce user-defined assistance or resistance in rehabilitation and fitness training.

Development and Feasibility Assessment of a Rotational Orthosis for Walking with Arm Swing

Interlimb neural coupling might underlie human bipedal locomotion, which is reflected in the fact that people swing their arms synchronously with leg movement in normal gait. Therefore, arm swing should be included in gait training to provide coordinated interlimb performance. The present study aimed to develop a Rotational Orthosis for Walking with Arm Swing (ROWAS), and evaluate its feasibility from the perspectives of implementation, acceptability and responsiveness. We developed the mechanical structures of the ROWAS system in SolidWorks, and implemented the concept in a prototype. Normal gait data were used as the reference performance of the shoulder, hip, knee and ankle joints of the prototype. The ROWAS prototype was tested for function assessment and further evaluated using five able-bodied subjects for user feedback. The ROWAS prototype produced coordinated performance in the upper and lower limbs, with joint profiles similar to those occurring in normal gait. The subjects reported a stronger feeling of walking with arm swing than without. The ROWAS system was deemed feasible according to the formal assessment criteria.

Modelling of the toe trajectory during normal gait using circle-fit approximation

This work aimed to validate the approach of using a circle to fit the toe trajectory relative to the hip and to investigate linear regression models for describing such toe trajectories from normal gait. Twenty-four subjects walked at seven speeds. Best-fit circle algorithms were developed to approximate the relative toe trajectory using a circle. It was detected that the mean approximation error between the toe trajectory and its best-fit circle was less than 4 %. Regarding the best-fit circles for the toe trajectories from all subjects, the normalised radius was constant, while the normalised centre offset reduced when the walking cadence increased; the curve range generally had a positive linear relationship with the walking cadence. The regression functions of the circle radius, the centre offset and the curve range with leg length and walking cadence were definitively defined. This study demonstrated that circle-fit approximation of the relative toe trajectories is generally applicable in normal gait. The functions provided a quantitative description of the relative toe trajectories. These results have potential application for design of gait rehabilitation technologies.

Mechanical stimulation of the foot sole in a supine position for ground reaction force simulation

BACKGROUND

To promote early rehabilitation of walking, gait training can start even when patients are on bed rest. Supine stepping in the early phase after injury is proposed to maximise the beneficial effects of gait restoration. In this training paradigm, mechanical loading on the sole of the foot is required to mimic the ground reaction forces that occur during overground walking. A pneumatic shoe platform was developed to produce adjustable forces on the heel and the forefoot with an adaptable timing. This study aimed to investigate the stimulation parameters of the shoe platform to generate walking-like loading on the foot sole, while avoiding strong reflexes.

METHODS

This study evaluated this platform in ten able-bodied subjects in a supine position. The platform firstly produced single-pulse stimulation on the heel or on the forefoot to determine suitable stimulation parameters, then it produced cyclic stimulation on the heel and the forefoot to simulate the ground reaction forces that occur at different walking speeds. The ankle angle and electromyography (EMG) in the tibialis anterior (TA) and soleus (SOL) muscles were recorded. User feedback was collected.

RESULTS

When the forefoot or/and the heel were stimulated, reflexes were observed in the lower leg muscles, and the amplitude increased with force. Single-pulse stimulation showed that a fast-rising force significantly increased the reflex amplitudes, with the possibility of inducing ankle perturbation. Therefore a slow-rising force pattern was adopted during cyclic stimulation for walking. The supine subjects perceived loading sensation on the foot sole which was felt to be similar to the ground reaction forces during upright walking. The EMG generally increased with force amplitude, but no reflex-induced ankle perturbations were observed. The mean change in the ankle joint induced by the stimulation was about 1°.

CONCLUSIONS

The rate of force increase should be carefully adjusted for simulation of walking-like loading on the foot sole. It is concluded that the dynamic shoe platform provides adjustable mechanical stimulation on the heel and the forefoot in a supine position and has technical potential for simulation of ground reaction forces that occur during walking.