A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation

Ichinose, W.E.; Reinkensmeyer, David J.; Aoyagi, Daisuke; Lin, Jianqiang; Ngai, Kenneth; Edgerton, V. Reggie; Harkema, Susan J.; Bobrow, J.E.

doi:10.1109/iembs.2003.1279715

Cited by 41 publications

(32 citation statements)

References 5 publications

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“…Instead, what we seek is a good force modulation. Previously, we developed a nonlinear controller to achieve force tracking with the pneumatic actuators, including backdrivability (i.e., zero force control), and constructed an impedance-type position controller to demonstrate PAM's ability as a teach-and-replay device that can drive the pelvis toward a reference trajectory [18]. However, during our initial testing with this controller with unimpaired individuals, we observed an unexpected consequence of the compliant assistance; they invariably began walking out-of-phase with the robot.…”

mentioning

confidence: 99%

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Aoyagi

Ichinose

Harkema

et al. 2007

IEEE Trans. Neural Syst. Rehabil. Eng.

227

143

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Abstract-Locomotor training using body weight support on a treadmill and manual assistance is a promising rehabilitation technique following neurological injuries, such as spinal cord injury (SCI) and stroke. Previous robots that automate this technique impose constraints on naturalistic walking due to their kinematic structure, and are typically operated in a stiff mode, limiting the ability of the patient or human trainer to influence the stepping pattern. We developed a pneumatic gait training robot that allows for a full range of natural motion of the legs and pelvis during treadmill walking, and provides compliant assistance. However, we observed an unexpected consequence of the device's compliance: unimpaired and SCI individuals invariably began walking out-ofphase with the device. Thus, the robot perturbed rather than assisted stepping. To address this problem, we developed a novel algorithm that synchronizes the device in real-time to the actual motion of the individual by sensing the state error and adjusting the replay timing to reduce this error. This paper describes data from experiments with individuals with SCI that demonstrate the effectiveness of the synchronization algorithm, and the potential of the device for relieving the trainers of strenuous work while maintaining naturalistic stepping.

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mentioning

confidence: 99%

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Aoyagi

Ichinose

Harkema

et al. 2007

IEEE Trans. Neural Syst. Rehabil. Eng.

227

143

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“…This is complementary to the approaches of Reinkensmeyer and colleagues [12], and Hogan and colleagues in robotic rehabilitation of locomotion in man. The application of assistive and stabilizing elastic fields at the rat pelvis allows massed training and leads to significant improvement in treadmill locomotor stepping over time in adult spinalized rats.…”

Section: A Robotic Rehabilitation At the Pelvis In Ratsmentioning

confidence: 63%

Robot Application of Elastic Fields to the Pelvis of the Spinal Transected Rat: a Tool for Detailed Assessment and Rehabilitation

Udoekwere

Ramakrishnan

Mbi

et al. 2006

2006 International Conference of the IEEE Engineering in Medicine and Biology Society

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We examine robotic rehabilitation and assessment of spinalized rats, using robot applied forces at the pelvis, as a prelude to a neurorobotic BMI. Using a surgically implanted frame, a cantilevered phantom robot is attached to the rat pelvis. An isotropic elastic field of constant stiffness is applied and the equilibrium is adjusted to provide a 'natural' trunk posture. Rats are trained daily for 20 minutes, 5 days per week in the field. Significant within trial, and long term adaptation occurs. The interaction force assessments from the robot reveal significant differences between spinalized control rats, and rats receiving implants of E14 dorsal raphe tissue to provide a serotonin source. Our system provides an animal model of rehabilitation through robot interaction at the pelvis.

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“…Recently to improve the e ciency of walking training, to promote the safety to avoid injuries in training or to provide entertainment to motivate the patients, a growing number of robotic systems have been developed for lower-limb physical rehabilitation. PAM (Pelvic Assist Manipulator) + ARTHuR (Ambulation Assisting Robotic Tool for Human Rehabilitation) [10][11][12] is a treadmill-based system. PAM mainly consists of linear actuators to support pelvis and ARTHUR is based on linear actuators on rail to provide foot motion assist.…”

Section: Conventional Methods and Related Work Conventional Methodsmentioning

confidence: 99%

A Walking Training System with Customizable Trajectory Designing

Dong

Matsumaru

2014

Paladyn, Journal of Behavioral Robotics

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This paper shows a novel walking training system for foot-eye coordination. To design customizable trajectories for di erent users conveniently in walking training, a new system which can track and record the actual walking trajectories by a tutor and can use these trajectories for the walking training by a trainee is developed. We set the four items as its human-robot interaction design concept: feedback, synchronization, ingenuity and adaptability. A foot model is proposed to de ne the position and direction of a foot. The errors in the detection method used in the system are less than 40 mm in position and 15 deg in direction. On this basis, three parts are structured to achieve the system functions: Trajectory Designer, Trajectory Viewer and Mobile Walking Trainer. According to the experimental results, we have con rmed the system works as intended and designed such that the steps recorded in Trajectory Designer could be used successfully as the footmarks projected in Mobile Walking Trainer and foot-eye coordination training would be conducted smoothly.

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A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation

Cited by 41 publications

References 5 publications

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Robot Application of Elastic Fields to the Pelvis of the Spinal Transected Rat: a Tool for Detailed Assessment and Rehabilitation

A Walking Training System with Customizable Trajectory Designing

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