BRMS: bio-responsive motion system (rehabilitation system for stroke patients)

Abstract

We have developed the rehabilitation system (BRMS, Bio-Responsive Motion System) for recovery of motion ability of the lower extremities of stroke patients. This project is supported by NEDO (New Energy and Industrial technology Development Organization) from 1999 to 2003. The BRMS constitutes a total exercise machine for patients with stroke. One of the target technologies is the 'gait simulator', which allows the patients to regain gait function by the exercise of both extremities with assistance for their voluntary muscle power and coordination skill. The BRMS's concept is that spastic patients move along walking pattern based on gait analysis, and the system evaluates the gait pattern, applying assisting motion and biofeedback. As preliminary experimental results on BRMS, joint angles, joint torques, floor reaction forces, and surface integrated electromyogram on the BRMS in one normal subject, are compared to the data in the gait pattern with standing position in normal subject.

Gait training in subacute non-ambulatory stroke patients using a full weight-bearing gait-assistance robot: A prospective, randomized, open, blinded-endpoint trial

“…Robotic devices for gait training are classified into end-effector [18,19], exoskeletal [20,21], and robotic arm control systems [22][23][24][25]. The gait-assistance robot (GAR) is a robotic arm control system that consists of four robotic arms that control the thighs and legs automatically and independently, thigh cuffs, leg apparatuses, a control panel, a power generator, lights for the foot pressure biofeedback system, and a treadmill ( Fig.…”

“…The gait-assistance robot (GAR) is a robotic arm control system that consists of four robotic arms that control the thighs and legs automatically and independently, thigh cuffs, leg apparatuses, a control panel, a power generator, lights for the foot pressure biofeedback system, and a treadmill ( Fig. 1) [23]. In contrast to other robotic devices, the GAR does not suspend the patient's body with a harness.…”

Estimation of Intention of User Arm Motion for the Proactive Motion of Upper Extremity Supporting Robot

“…Other operational type robots provide the assisting motion directly manipulated by the user. While the user voluntarily manipulates the operational device of the system, the robot controller generates the assisting motion of the mechanical arm to follow the user's motion [2]. Since the robot moves according to the voluntary operation, the delay of the robot motion occurs with regard to the user intention.…”

A Sit-to-Stand Training Robot and Its Performance Evaluation: Dynamic Analysis in Lower Limb Rehabilitation Activities

“…Several more practical types of rehabilitation robotic devices have proved effective in helping improve limb motor function, but they may be not suitable for self-controlled training. For example, a gait rehabilitation robot with upper and lower limb connections that allows patients to update their walking velocity on various terrains (15) , a powered lower limb orthoses for gait rehabilitation that allows practice starting, turning, stopping, and obstacle avoidance during walking over ground (16) , and a bio-responsive motion system that works as a gait simulator for recovery of motion ability of the lower extremities of stroke patients (17) . However, these robots are relatively complex and difficult to set up by patients on their own, so sometimes the training can be conducted only in hospitals with an expert.…”

“…In the robot system, precise locations of the wearable parts are unnecessary and control commands can be inputted by the patients on their own, which improved the weak point of Ref. [15][16][17]. An impedance control method was developed to both ensure patients' comfortable postures which improved the weak point of Ref.…”