Characteristics of a Walking Simulator with Parallel Manipulators

Elías, Dante; Callupe, Rocío; Ceccarelli, Marco

doi:10.1007/978-3-319-10723-3_15

Cited by 2 publications

(2 citation statements)

References 13 publications

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“…Overall, two kinds of Gough-Stewart platforms are examined in the literature: 6-UPS and 6-UCU, where U, C, and S, stand for universal, cylindrical, and spherical joints, respectively. As an example, the prototype presented by Boian et al for walking simulation consists of two 6-UCU platforms [144], whereas the one proposed by Elias et al consists of two 6-UPS platforms [140]. Moreover, different prototypes based on unique Stewart platforms were developed for balance rehabilitation.…”

Section: Non-commercially Available End Effectorsmentioning

confidence: 99%

Devices for Gait and Balance Rehabilitation: General Classification and a Narrative Review of End Effector-Based Manipulators

Diego,

Herrero,

Macho

et al. 2024

Applied Sciences

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Gait and balance have a direct impact on patients’ independence and quality of life. Due to a higher life expectancy, the number of patients suffering neurological disorders has increased exponentially, with gait and balance impairments being the main side effects. In this context, the use of rehabilitation robotic devices arises as an effective and complementary tool to recover gait and balance functions. Among rehabilitation devices, end effectors present some advantages and have shown encouraging outcomes. The objective of this study is twofold: to propose a general classification of devices for gait and balance rehabilitation and to provide a review of the existing end effectors for such purposes. We classified the devices into five groups: treadmills, exoskeletons, patient-guided systems, perturbation platforms, and end effectors. Overall, 55 end effectors were identified in the literature, of which 16 were commercialized. We found a disproportionate number of end effectors capable of providing both types of rehabilitation (2/55) and those focused on either balance (21/55) or gait (32/55). The analysis of their features from a mechanical standpoint (degrees of freedom, topology, and training mode) allowed us to identify the potential of parallel manipulators as driving mechanisms of end effector devices and to suggest several future research directions.

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Section: Non-commercially Available End Effectorsmentioning

confidence: 99%

Devices for Gait and Balance Rehabilitation: General Classification and a Narrative Review of End Effector-Based Manipulators

Diego,

Herrero,

Macho

et al. 2024

Applied Sciences

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“…Regarding the FGTM, emulating standard gait trajectories may be one of the first approaches applied in lower limb robotic rehabilitation systems [2]. For that purpose, feet pose during gait was recorded using optic motion capture [20] to serve as a high-level reference to the CU. The reference trajectory for each foot was measured with respect to the standard double support position.…”

Section: Control Strategiesmentioning

confidence: 99%

Control Strategies for Gait Tele-Rehabilitation System Based on Parallel Robotics

et al. 2021

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Among end-effector robots for lower limb rehabilitation, systems based on Stewart–Gough platforms enable independent movement of each foot in six degrees of freedom. Nevertheless, control strategies described in recent literature have not been able to fully explore the potential of such a mechatronic system. In this work, we propose two novel approaches for controlling a gait simulator based on Stewart–Gough platforms. The first strategy provides the therapist direct control of each platform using movement data measured by wearable sensors. The following scheme is designed to improve the level of engagement of the patient by enabling a limited degree of control based on trunk inclination. Both strategies are designed to facilitate future studies in tele-rehabilitation settings. Experimental results have illustrated the feasibility of both control interfaces, either in terms of system performance or user subjective evaluation. Technical capacity to deploy in tele-rehabilitation was also verified in this work.

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Characteristics of a Walking Simulator with Parallel Manipulators

Cited by 2 publications

References 13 publications

Devices for Gait and Balance Rehabilitation: General Classification and a Narrative Review of End Effector-Based Manipulators

Devices for Gait and Balance Rehabilitation: General Classification and a Narrative Review of End Effector-Based Manipulators

Control Strategies for Gait Tele-Rehabilitation System Based on Parallel Robotics

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