A User-Friendly Nonmotorized Device for Ankle Rehabilitation

Gonçalves, Rogério Sales; Rodrigues, Lucas Antônio Oliveira; Humbert, René; Carbone, Giuseppe

doi:10.3390/robotics12020032

Cited by 8 publications

(4 citation statements)

References 30 publications

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“…Many research efforts are being spent on making more affordable rehabilitation options that are at least as effective as the ones already presented briefly here. Amongst those devices, linkage-based devices (passive [55][56][57] or motorized) are noteworthy since they present the potential of guiding a kinematically similar movement to healthy gait and have received a lot of attention lately, with a diverse set of different propositions for gait training machines.…”

Section: Search Methodologymentioning

confidence: 99%

A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

Paiva,

Gonçalves,

Carbone

2024

Robotics

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This study aims to provide a comprehensive critical review of the existing body of evidence pertaining to gait rehabilitation. It also seeks to introduce a systematic approach for the development of innovative design solutions in this domain. The field of gait rehabilitation has witnessed a surge in the development of novel robotic devices. This trend has emerged in response to limitations observed in most commercial solutions, particularly regarding their high costs. Consequently, there is a growing need to explore more cost-effective alternatives and create opportunities for greater accessibility. Within the realm of cost-effective options, linkage-based gait trainers have emerged as viable alternatives, prompting a thorough examination of this category, which is carried out in this work. Notably, there is a wide heterogeneity in research approaches and presentation methods. This divergence has prompted discourse regarding the standardization of key elements relevant to the proposals of new linkage-based devices. As a result, this study proposes a comprehensive and standardized design process and offers a brief illustration of the application of this design process through the presentation of a potential new design.

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Section: Search Methodologymentioning

confidence: 99%

A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

Paiva,

Gonçalves,

Carbone

2024

Robotics

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“…The ankle joint plays a fundamental role in supporting, balancing, and facilitating movement in the human body. Formed by several articulations, the ankle joint connects the lower leg to the foot, with its primary function being dorsiflexion during foot elevation and plantarflexion during foot descent [1].…”

Section: Introductionmentioning

confidence: 99%

Development of a portable and compact robotic ankle rehabilitation system

Zhetenbayev,

Sergazin,

Jamwal

et al. 2024

Vib. proced.

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As part of this study, an ankle rehabilitation device was developed for patients suffering from motor disorders caused by incomplete spinal cord injury (ISCI), stroke, or cerebral palsy. First, the research models and dynamic equations of the device were considered. Secondly, the prototype ankle rehabilitation device is made of PLA plastic and uses linear actuators to simulate outward and inward flexion exercises (dorsiflexion and plantar flexion) for the patient. The advantages of the device are its simple design, low cost, and the possibility of installation on recovery equipment. The device can work quickly in experiments, in addition, the rehabilitation robot can work stably and is convenient to use for patients.

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“…Another study presented impedance modulation using an electromagnetic brake [9]. Several other methods have been used for human-exoskeleton force estimation, and some for rehabilitation of patients [10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation

Abdullahi

Chaichaowarat

2023

JSAN

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Patients suffering from motor disorders or weakness resulting from either serious spinal cord injury or stroke often require rehabilitation therapy to regain their mobility. In the lower limbs, exoskeletons have two motors aligned with the patients’ hip and knee to assist in rehabilitation exercises by supporting the patient’s body structure to increase the torques at the hip and knee joints. Assistive rehabilitation is, however, challenging, as the human torque is unknown and varies from patient to patient. This poses difficulties in determining the level of assistance required for a particular patient. In this paper, therefore, a modified extended state observer (ESO)-based integral sliding mode (ISM) controller (MESOISMC) for lower-limb exoskeleton assistive gait rehabilitation is proposed. The ESO is used to estimate the unknown human torque without application of a torque sensor while the ISMC is used to achieve robust tracking of preset hip and knee joint angles by considering the estimated human torque as a disturbance. The performance of the proposed MESOISMC was assessed using the mean absolute error (MAE). The obtained results show an 85.02% and 87.38% reduction in the MAE for the hip and joint angles, respectively, when the proposed MESOISMC is compared with ISMC with both controllers tuned via LMI optimization. The results also indicate that the proposed MESOISMC method is effective and efficient for user comfort and safety during gait rehabilitation training.

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A User-Friendly Nonmotorized Device for Ankle Rehabilitation

Cited by 8 publications

References 30 publications

A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

A Critical Review and Systematic Design Approach for Linkage-Based Gait Rehabilitation Devices

Development of a portable and compact robotic ankle rehabilitation system

Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation

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