1
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Ersoy T, Kaya P, Hocaoglu E, Unal R. I-BaR: integrated balance rehabilitation framework. Front Neurorobot 2024; 18:1401931. [PMID: 39021504 PMCID: PMC11252086 DOI: 10.3389/fnbot.2024.1401931] [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: 03/16/2024] [Accepted: 06/10/2024] [Indexed: 07/20/2024] Open
Abstract
Neurological diseases are observed in approximately 1 billion people worldwide. A further increase is foreseen at the global level as a result of population growth and aging. Individuals with neurological disorders often experience cognitive, motor, sensory, and lower extremity dysfunctions. Thus, the possibility of falling and balance problems arise due to the postural control deficiencies that occur as a result of the deterioration in the integration of multi-sensory information. We propose a novel rehabilitation framework, Integrated Balance Rehabilitation (I-BaR), to improve the effectiveness of the rehabilitation with objective assessment, individualized therapy, convenience with different disability levels and adoption of assist-as-needed paradigm and, with integrated rehabilitation process as whole, that is, ankle-foot preparation, balance, and stepping phases, respectively. Integrated Balance Rehabilitation allows patients to improve their balance ability by providing multi-modal feedback: visual via utilization of virtual reality; vestibular via anteroposterior and mediolateral perturbations with the robotic platform; proprioceptive via haptic feedback.
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Affiliation(s)
- Tugce Ersoy
- Department of Mechanical Engineering, Human-Centered Design Laboratory, Ozyegin University, Istanbul, Türkiye
| | - Pınar Kaya
- Department of Physiotherapy and Rehabilitation, Istanbul Medipol University, Istanbul, Türkiye
| | - Elif Hocaoglu
- Department of Electrical and Electronics Engineering, Living Robotics Laboratory, Istanbul Medipol University, Istanbul, Türkiye
- SABITA (Research Institute for Health Sciences and Technologies), Istanbul Medipol University, Istanbul, Türkiye
| | - Ramazan Unal
- Department of Mechanical Engineering, Human-Centered Design Laboratory, Ozyegin University, Istanbul, Türkiye
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2
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Khanbabayi E, Noorani MRS. Design computed torque control for Stewart platform with uncertainty to the rehabilitation of patients with leg disabilities. Comput Methods Biomech Biomed Engin 2024; 27:1028-1041. [PMID: 37314296 DOI: 10.1080/10255842.2023.2222863] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/24/2022] [Accepted: 05/31/2023] [Indexed: 06/15/2023]
Abstract
Physiotherapy is a treatment that may be required permanently by many patients. As a result, a robot that can execute physiotherapy exercises for the legs like a professional therapist with adequate performance and acceptable safety may be efficient and widely used. In this study, a robust control system for a Stewart platform with six degrees of freedom is provided. First, the Newton-Euler approach is used in conjunction with a methodology and some simplification tools to achieve explicit dynamics formulation for the Stewart platform. For the primary application of this research, which is to follow the specified trajectory of ankle rehabilitation, computed torque control law (CTCL) and polynomial chaos expansion (PCE) were used to examine and consider any uncertainty in geometric and physical parameters. In fact, this strategy integrated the uncertainties with CTCL using PCE. The suggested PCE-based CTCL eliminates the system's nonlinearity by applying feedback linearization to evaluate generalized driving forces; hence, the nondeterministic multi-body system follows the desired direction. Uncertainties in the patient's foot as well as the main diameter parameters of the moment of inertia of the upper platform of the Stewart robot with various uniform, beta, and normal distributions, have been analyzed. The PCE technique's results were compared to the Monte Carlo method's outcomes, and the strengths and weaknesses of each method were investigated. In brief, the PCE method operated far better than the Monte Carlo (MC) method in speed, accuracy, and numerical volume.
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3
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Wang H, Ding Q, Luo Y, Wu Z, Yu J, Chen H, Zhou Y, Zhang H, Tao K, Chen X, Fu J, Wu J. High-Performance Hydrogel Sensors Enabled Multimodal and Accurate Human-Machine Interaction System for Active Rehabilitation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2309868. [PMID: 38095146 DOI: 10.1002/adma.202309868] [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: 09/22/2023] [Revised: 12/03/2023] [Indexed: 12/22/2023]
Abstract
Human-machine interaction (HMI) technology shows an important application prospect in rehabilitation medicine, but it is greatly limited by the unsatisfactory recognition accuracy and wearing comfort. Here, this work develops a fully flexible, conformable, and functionalized multimodal HMI interface consisting of hydrogel-based sensors and a self-designed flexible printed circuit board. Thanks to the component regulation and structural design of the hydrogel, both electromyogram (EMG) and forcemyography (FMG) signals can be collected accurately and stably, so that they are later decoded with the assistance of artificial intelligence (AI). Compared with traditional multichannel EMG signals, the multimodal human-machine interaction method based on the combination of EMG and FMG signals significantly improves the efficiency of human-machine interaction by increasing the information entropy of the interaction signals. The decoding accuracy of the interaction signals from only two channels for different gestures reaches 91.28%. The resulting AI-powered active rehabilitation system can control a pneumatic robotic glove to assist stroke patients in completing movements according to the recognized human motion intention. Moreover, this HMI interface is further generalized and applied to other remote sensing platforms, such as manipulators, intelligent cars, and drones, paving the way for the design of future intelligent robot systems.
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Affiliation(s)
- Hao Wang
- State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, 510275, China
| | - Qiongling Ding
- State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, 510275, China
| | - Yibing Luo
- State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, 510275, China
| | - Zixuan Wu
- State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, 510275, China
| | - Jiahao Yu
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace, Northwestern Polytechnical University, Xi'an, 710072, China
| | - Huizhi Chen
- Guangdong Provincial Key Laboratory of Research and Development of Natural Drugs and School of Pharmacy, Guangdong Medical University, Dongguan, 523808, P. R. China
- The First Dongguan Affiliated Hospital, Guangdong Medical University, Dongguan, 523808, P. R. China
| | - Yubin Zhou
- Guangdong Provincial Key Laboratory of Research and Development of Natural Drugs and School of Pharmacy, Guangdong Medical University, Dongguan, 523808, P. R. China
- The First Dongguan Affiliated Hospital, Guangdong Medical University, Dongguan, 523808, P. R. China
| | - He Zhang
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering (SCUT) Ministry of Education, South China University of Technology, Guangzhou, 510641, P. R. China
| | - Kai Tao
- Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace, Northwestern Polytechnical University, Xi'an, 710072, China
| | - Xiaoliang Chen
- Micro- and Nano-technology Research Center, State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710049, China
| | - Jun Fu
- School of Materials Science and Engineering, Sun Yat-sen University, Guangzhou, 510275, China
| | - Jin Wu
- State Key Laboratory of Optoelectronic Materials and Technologies and the Guangdong Province Key Laboratory of Display Material and Technology, School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, 510275, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, National Engineering Research Center of Novel Equipment for Polymer Processing, Key Laboratory of Polymer Processing Engineering (SCUT) Ministry of Education, South China University of Technology, Guangzhou, 510641, P. R. China
- State Key Laboratory of Polymer Materials Engineering, Sichuan University, Chengdu, 610065, People's Republic of China
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4
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Heo JS, Lee HJ, Ko BW, Yoon HS, Bae YH. Usability of the novel ankle training equipment with spring resistance-based plantar press exercises in the standing position: A focus on chronic stroke patients with hemiplegic gait. Technol Health Care 2024; 32:1149-1158. [PMID: 38073345 DOI: 10.3233/thc-230747] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/23/2024]
Abstract
BACKGROUND To improve gait disability in patients with chronic stroke, ankle muscle strengthening and calf muscle stretching exercises are required. However, currently available ankle training equipment limit ankle exercises based on the position. Recently developed ankle training equipment enables spring resistance-based plantar press exercises to be performed in the standing position with weight support. OBJECTIVE To conduct a usability test of the ankle training equipment in the standing position by stroke patients with hemiplegic gait and verify its effects on ankle movements. METHODS The ankle training equipment was applied to five patients with chronic stroke and hemiplegic gait. In the standing position, the patients performed forefoot and rearfoot press exercises in the affected side with a day's interval at 20 repetitions maximum (RM). During the exercises, surface electromyography (sEMG) was used to measure the maximum voluntary isometric contraction (%MVIC) of the leg muscles. The System Usability Scale (SUS) was used to assess the ankle training equipment. Wilcoxon signed-rank test was used to evaluate the differences in muscle activity between the two exercises. RESULTS Forefoot and rearfoot press exercises increased the %MVIC in the biceps femoris. Additionally, the tibialis anterior and medial gastrocnemius activity was significantly different between the two exercises. The SUS was 78.75% (SD 12.7). CONCLUSION The usability test of the passive-control foot press trainer (PFPT) that with improvements in the structure and functions for convenience, it could be commercialized. PFPT could be an alternative to the ankle rehabilitation robot that necessitates a sitting position.
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Affiliation(s)
- Jin-Su Heo
- Department of Clinical Rehabilitation Research, National Rehabilitation Research Institute, Seoul, Korea
| | - Hyung-Joo Lee
- Department of Rehabilitation and Assistive Technology, National Rehabilitation Research Institute, Seoul, Korea
| | - Byung-Woo Ko
- Department of Rehabilitation and Assistive Technology, National Rehabilitation Research Institute, Seoul, Korea
| | - Hyun-Soo Yoon
- Daegu Gyeongbuk Institute of Science and Technology, Daegu, Korea
| | - Young-Hyeon Bae
- Department of Healthcare and Public Health Research, National Rehabilitation Research Institute, Seoul, Korea
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Chiriatti G, Carbonari L, Ceravolo MG, Andrenelli E, Millevolte M, Palmieri G. A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results. SENSORS (BASEL, SWITZERLAND) 2023; 23:7652. [PMID: 37688108 PMCID: PMC10563072 DOI: 10.3390/s23177652] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/05/2023] [Revised: 08/07/2023] [Accepted: 08/31/2023] [Indexed: 09/10/2023]
Abstract
One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper, a rehabilitation framework for the upper limbs of neurological patients is presented, consisting of a collaborative robot that helps users perform three-dimensional trajectories. Such a practice is aimed at improving the coordination of patients by guiding their motions in a preferred direction. We present the mechatronic setup, along with a preliminary experimental set of results from 19 volunteers (patients and control subjects) who provided positive feedback on the training experience (52% of the subjects would return and 44% enjoyed performing the exercise). Patients were able to execute the exercise, with a maximum deviation from the trajectory of 16 mm. The muscular effort required was limited, with average maximum forces recorded at around 50 N.
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Affiliation(s)
- Giorgia Chiriatti
- Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy; (G.C.); (G.P.)
| | - Luca Carbonari
- Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy; (G.C.); (G.P.)
| | - Maria Gabriella Ceravolo
- Department of Experimental and Clinical Medicine, Polytechnic University of Marche, 60131 Ancona, Italy; (M.G.C.); (E.A.)
| | - Elisa Andrenelli
- Department of Experimental and Clinical Medicine, Polytechnic University of Marche, 60131 Ancona, Italy; (M.G.C.); (E.A.)
| | - Marzia Millevolte
- Neurorehabilitation Clinic, Ancona University Hospital, 60131 Ancona, Italy;
| | - Giacomo Palmieri
- Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy; (G.C.); (G.P.)
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6
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Liu Y, Dong X, Huo H, Feng L, Tong D, Liu J, Zhang H, Zheng Y, Wang S, Wang D. Effects of programmed flexor-extensor alternating electrical acupoint stimulation on upper limb motor functional reconstruction after stroke: study protocol for a double-blind, randomized controlled trial. Trials 2023; 24:324. [PMID: 37170159 PMCID: PMC10174617 DOI: 10.1186/s13063-023-07283-3] [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: 06/08/2022] [Accepted: 03/29/2023] [Indexed: 05/13/2023] Open
Abstract
BACKGROUND Stroke's prevalence and morbidity are increasing (Guano, et al. Neuro 89:53-61, 2017), and limb motor dysfunction is left in most patients (Gittler, et al. JAMA 319:820-821, 2018). Particularly, the rehabilitation of upper limbs is more difficult and time-consuming (Borges, et al. The Cochrane database of systematic reviews 10:CD011887, 2018). METHODS A double-blind randomized controlled trial (RCT) will be conducted to investigate whether a new functional electrical stimulation (FES) combined with acupoint therapy is more effective in the rehabilitation of upper limb motor dysfunction after stroke. Patients who meet the inclusion criteria will be randomly divided into two groups: programmed flexor-extensor alternating electrical acupoint stimulation group (PES group) and conventional flexor-extensor alternating electrical acupoint stimulation group (CES group), which will be treated for 3 weeks. The primary outcome measures are electroencephalogram (EEG) and surface electromyogram (sEMG). The secondary outcome variables include MBI (modified Barthel index), China Stroke Scale (CSS), FMA-U (Fugl-Meyer assessment upper limb), MMT (manual muscle testing), and Brunnstrom. DISCUSSION The results of this study are expected to verify the efficacy of PES therapy in the rehabilitation of upper limb motor function after stroke. This may promote the widespread use of the therapy in hospitals, communities, and homes for early and continuous treatment. TRIAL REGISTRATION ClinicalTrials.gov NCT05333497. Registered on April 11, 2022.
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Affiliation(s)
- Yang Liu
- Heilongjiang University of Chinese Medicine, No. 24 Heping Road, Xiangfang District, Harbin, People's Republic of China
| | - Xu Dong
- The Second Affiliated Hospital of Heilongjiang University of Chinese Medicine, Nangang District, No. 105 AshiheRoad, Harbin, People's Republic of China
| | - Hong Huo
- The Second Affiliated Hospital of Heilongjiang University of Chinese Medicine, Nangang District, No. 105 AshiheRoad, Harbin, People's Republic of China
| | - Liyuan Feng
- The Second Affiliated Hospital of Heilongjiang University of Chinese Medicine, Nangang District, No. 105 AshiheRoad, Harbin, People's Republic of China
| | - Dan Tong
- Heilongjiang University of Chinese Medicine, No. 24 Heping Road, Xiangfang District, Harbin, People's Republic of China
| | - Jiahui Liu
- Heilongjiang University of Chinese Medicine, No. 24 Heping Road, Xiangfang District, Harbin, People's Republic of China
| | - Hongyan Zhang
- Heilongjiang University of Chinese Medicine, No. 24 Heping Road, Xiangfang District, Harbin, People's Republic of China
| | - Yingkang Zheng
- Heilongjiang University of Chinese Medicine, No. 24 Heping Road, Xiangfang District, Harbin, People's Republic of China
| | - Shuai Wang
- Heilongjiang University of Chinese Medicine, No. 24 Heping Road, Xiangfang District, Harbin, People's Republic of China
| | - Dongyan Wang
- Heilongjiang University of Chinese Medicine, No. 24 Heping Road, Xiangfang District, Harbin, People's Republic of China.
- The Second Affiliated Hospital of Heilongjiang University of Chinese Medicine, Nangang District, No. 105 AshiheRoad, Harbin, People's Republic of China.
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7
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A User-Friendly Nonmotorized Device for Ankle Rehabilitation. ROBOTICS 2023. [DOI: 10.3390/robotics12020032] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2023] Open
Abstract
The ankle is formed by several joints, and it is the union of the lower leg with the foot. Its main function is to perform dorsiflexion and plantar flexion movements. Many people are affected by ankle problems. These problems can be due to simple factors, but they can also be a sign of a more serious impairment that can lead to the need for ankle rehabilitation. Thus, this paper presents a novel, fairly simple nonmotorized device for ankle rehabilitation. The design of the novel device is based on the crank–rocker mechanism, activated by the patient’s upper limb, allowing the execution of the ankle flexion range. The dimensions of the device were found using a differential evolution algorithm considering the ankle movement limits, the link stress, and singularity configurations. Graphic simulations were performed to validate the mathematical model. A prototype was constructed, and the angular ankle movement was verified. The device is easy to operate and low-cost, and in the future, it may be a tool for ankle rehabilitation.
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8
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Dong M, Fan W, Li J, Zhang P. Patient-Specific Exercises with the Development of an End-Effector Type Upper Limb Rehabilitation Robot. JOURNAL OF HEALTHCARE ENGINEERING 2022; 2022:4125606. [PMID: 36337379 PMCID: PMC9633207 DOI: 10.1155/2022/4125606] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/17/2022] [Revised: 09/23/2022] [Accepted: 10/03/2022] [Indexed: 02/08/2024]
Abstract
End-effector type upper limb rehabilitation robots (ULRRs) are connected to patients at one distal point, making them have simple structures and less complex control algorithms, and they can avoid abnormal motion and posture of the target anatomical joints and specific muscles. Given that the end-effector type ULRR focuses more on the rehabilitation of the combined motion of upper limb chain, assisting the patient to perform collaborative tasks, and its intervention has some advantages than the exoskeleton type ULRR, we developed a novel three-degree-of-freedom (DOF) end-effector type ULRR. The advantage of the mechanical design is that the designed end-effector type ULRR can achieve three DOFs by using a four-bar mechanism and a lifting mechanism; we also developed the patient-specific exercises including patient-passive exercise and patient-cooperative exercise, and the advantage of the developed patient-cooperative exercise is that we simplified the human-robot coupling system model into a single spring system instead of the mass-spring-damp system, which efficiently improved the response speed of the control system. In terms of the organization structure of the work, we introduced the end-effector type ULRR's mechanical design, control system, inverse solution of positions, patient-passive exercise based on the inverse solution of positions and the linear position interpolation of servo drives, and patient-cooperative exercise based on the spring model, in sequence. Experiments with three healthy subjects have been conducted, with results showing good trajectory tracking performance in patient-passive exercise and showing effective, flexible, and good real-time interactive performance in patient-cooperative exercise.
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Affiliation(s)
- Mingjie Dong
- Faculty of Materials and Manufacturing, Beijing University of Technology, No. 100 Pingleiyuan Chaoyang District, Beijing 100124, China
| | - Wenpei Fan
- Faculty of Materials and Manufacturing, Beijing University of Technology, No. 100 Pingleiyuan Chaoyang District, Beijing 100124, China
| | - Jianfeng Li
- Faculty of Materials and Manufacturing, Beijing University of Technology, No. 100 Pingleiyuan Chaoyang District, Beijing 100124, China
| | - Pengfei Zhang
- Faculty of Materials and Manufacturing, Beijing University of Technology, No. 100 Pingleiyuan Chaoyang District, Beijing 100124, China
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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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10
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Clinically oriented ankle rehabilitation robot with a novel mechanism. ROBOTICA 2022. [DOI: 10.1017/s026357472200128x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Abstract
In order to make the designed ankle robotic system simpler, practical, and clinically oriented, we developed a novel
$\underline{R}-2\underline{U}PS/RR$
ankle rehabilitation robot with a variety of training functions covering all the required ranges of motion of the ankle joint complex (AJC), where
$U$
,
$P$
,
$S$
, and
$R$
denote universal, prismatic, spherical, and revolute joints, respectively, and the underlined letter denotes the actuated joint. The robot was designed with three degrees of freedom (DOFs), with a series
$R$
mechanism and a
$2\underline{U}PS/RR$
parallel mechanism. The main advantage is that the height of the robot is very low, which is convenient for clinical use by patients. At first, the mechanism design and inverse solution of positions were introduced in detail. Then, the patient-passive exercise based on the predefined trajectory tracking and patient-active exercise based on the spring model were developed to satisfy different rehabilitation stages. Finally, experiments with healthy subjects were conducted to verify the effectiveness of the developed patient-passive and patient-active exercises of the developed ankle rehabilitation robot, with results compared with the existing ankle robotic system showing good trajectory tracking performance and interactive performance.
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11
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Ibrahim AAH, Ammounah A, Alfayad S, Tliba S, Ouezdou FB, Delaplace S. Hydraulic Robotic Leg for HYDROïD Robot: Modeling and Control. JOURNAL OF ROBOTICS AND MECHATRONICS 2022. [DOI: 10.20965/jrm.2022.p0576] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
This paper presents a new hydraulic robotic leg for the humanoid hydraulic robot HYDROïD. The main parts of this leg are divided into two main parts; the knee subsystem and the ankle subsystem. The presented leg mechanism consists of 4 DOFs, all of which are operated using highly dynamic servo valves. The design of the leg is thoroughly presented and all of its parts are demonstrated. Moreover, the inverse kinematics for both sub-mechanisms are presented to be able to control the angular position of the leg joints. Also, a virtual dynamic model is introduced in which a position controller is applied to the model to regulate the actuating pistons, check the new structure, and analyze the position of the joints and their torques. To test the new leg experimentally, the new leg is assembled with the rest of the robot, and rapid prototyping software is used with a position controller. Experimental position tracking responses are introduced showing the validity of the new design and the implemented controller.
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12
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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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13
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Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance. ACTUATORS 2022. [DOI: 10.3390/act11020063] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
A control design is presented for a cable driven parallel manipulator for performing a controlled motion assistance of a human ankle. Requirements are discussed for a portable, comfortable, and light-weight solution of a wearable device with an overall design with low-cost features and user-oriented operation. The control system utilizes various operational and monitoring sensors to drive the system and also obtain continuous feedback during motion to ensure an effective recovery. This control system for CABLEankle device is designed for both active and passive rehabilitation to facilitate the improvement in both joint mobility and surrounding muscle strength.
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