A leg exoskeleton command unit for human walking rehabilitation

Dumitru, Sorin; Copiluși, Cristian; Dumitru, Nicolae

doi:10.1109/aqtr.2018.8402732

Cited by 3 publications

(2 citation statements)

References 11 publications

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“…In our previous work we have created an alternative to exoskeleton, in which the affected body part is stimulated using a noninvasive model called the Muscle to Machine Interface for Paralyzed person (MMIP). Muscle nerves are exited using muscle electrodes based on the movements produced by the care giver [19]. We further extended this work to activate the muscle nerves using paralyzed person's thoughts [20].…”

Section: Introductionmentioning

confidence: 99%

Brain-Controlled Adaptive Lower Limb Exoskeleton for Rehabilitation of Post-Stroke Paralyzed

Vinoj

Jacob²,

Menon³

et al. 2019

IEEE Access

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Stroke is a standout amongst the most imperative reasons of incapacity on the planet. Due to partial or full paralysis, the majority of patients are compelled to rely upon parental figures and caregivers in residual life. With post-stroke rehabilitation, different types of assistive technologies have been proposed to offer developments to the influenced body parts of the incapacitated. In a large portion of these devices, the clients neither have control over the tasks nor can get feedback concerning the status of the exoskeleton. Additionally, there is no arrangement to detect user movements or accidental fall. The proposed framework tackles these issues utilizing a brain-controlled lower limb exoskeleton (BCLLE) in which the exoskeleton movements are controlled based on user intentions. An adaptive mechanism based on sensory feedback is integrated to reduce the system false rate. The BCLLE uses a flexible design which can be customized according to the degree of disability. The exoskeleton is modeled according to the human body anatomy, which makes it a perfect fit for the affected body part. The BCLLE system also automatically identifies the status of the paralyzed person and transmits information securely using Novel-T Symmetric Encryption Algorithm (NTSA) to caregivers in case of emergencies. The exoskeleton is fitted with motors which are controlled by the brain waves of the user with an electroencephalogram (EEG) headset. The EEG headset captures the human intentions based on the signals acquired from the brain. The brain-computer interface converts these signals into digital data and is interfaced with the motors via a microcontroller. The microcontroller controls the high torque motors connected to the exoskeleton's joints based on user intentions. Classification accuracy of more than 80% is obtained with our proposed method which is much higher compared with all existing solutions. INDEX TERMS Artificial skin, assistive technologies, brain-computer interface (BCI), electroencephalogram (EEG), brain-controlled exoskeleton, paralyzed, stroke.

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Section: Introductionmentioning

confidence: 99%

Brain-Controlled Adaptive Lower Limb Exoskeleton for Rehabilitation of Post-Stroke Paralyzed

Vinoj

Jacob²,

Menon³

et al. 2019

IEEE Access

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“…And finally, the ankle, simplified into three rotation joints, achieves plantar/dorsiflexion, eversion/inversion, and internal/external rotation ( Shi et al, 2019 ). The kinematic models should be developed by considering the anthropometric and morphology of human body structure in accordance with the command-and-control possibilities of actuated joints ( Dumitru et al, 2018 ; Cardona and Garcia Cena, 2019 ). Joint movements during upper and lower-limb movements cause misalignments between the exoskeletal and human joint axes that need to be adjusted and fit to the position of joints.…”

Section: Design Paradigmmentioning

confidence: 99%

Robotic Home-Based Rehabilitation Systems Design: From a Literature Review to a Conceptual Framework for Community-Based Remote Therapy During COVID-19 Pandemic

2021

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During the COVID-19 pandemic, the higher susceptibility of post-stroke patients to infection calls for extra safety precautions. Despite the imposed restrictions, early neurorehabilitation cannot be postponed due to its paramount importance for improving motor and functional recovery chances. Utilizing accessible state-of-the-art technologies, home-based rehabilitation devices are proposed as a sustainable solution in the current crisis. In this paper, a comprehensive review on developed home-based rehabilitation technologies of the last 10 years (2011–2020), categorizing them into upper and lower limb devices and considering both commercialized and state-of-the-art realms. Mechatronic, control, and software aspects of the system are discussed to provide a classified roadmap for home-based systems development. Subsequently, a conceptual framework on the development of smart and intelligent community-based home rehabilitation systems based on novel mechatronic technologies is proposed. In this framework, each rehabilitation device acts as an agent in the network, using the internet of things (IoT) technologies, which facilitates learning from the recorded data of the other agents, as well as the tele-supervision of the treatment by an expert. The presented design paradigm based on the above-mentioned leading technologies could lead to the development of promising home rehabilitation systems, which encourage stroke survivors to engage in under-supervised or unsupervised therapeutic activities.

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Tuning of FP-PID Controller based on PSO Algorithm Applied to a Human Gait

Medeiros

Muñoz

2022

2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Edu

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A leg exoskeleton command unit for human walking rehabilitation

Cited by 3 publications

References 11 publications

Brain-Controlled Adaptive Lower Limb Exoskeleton for Rehabilitation of Post-Stroke Paralyzed

Brain-Controlled Adaptive Lower Limb Exoskeleton for Rehabilitation of Post-Stroke Paralyzed

Robotic Home-Based Rehabilitation Systems Design: From a Literature Review to a Conceptual Framework for Community-Based Remote Therapy During COVID-19 Pandemic

Tuning of FP-PID Controller based on PSO Algorithm Applied to a Human Gait

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