Comparing the Performance of a Cable-Driven Active Leg Exoskeleton (C-ALEX) Over-Ground and on a Treadmill

Hidayah, Rand; Jin, Xin; Chamarthy, Siddharth; Agrawal, Sunil K.

doi:10.1109/biorob.2018.8487771

Cited by 11 publications

(5 citation statements)

References 16 publications

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“…Locomotor adaptation is the process of adapting one's motor response with practice due to an induced error. In walking, various methodologies of inducing external perturbation have been studied and found to report adaptation, in the presence of the applied intervention, and de-adaptation, with the removal of applied intervention, in gait parameters (Bastian, 2008;Duschau-Wicke et al, 2009;Krishnan et al, 2012;Malone et al, 2012;Srivastava et al, 2016;Hidayah et al, 2018). The changes in the gait parameters reported in the current work were only present during the training session.…”

Section: Discussionmentioning

confidence: 55%

“…In a robotic rehabilitation paradigm, the use of a robotic exoskeleton is aimed at either assisting or resisting the deviant human lower limb joint motion to emulate a healthy gait (Banala et al, 2007;Duschau-Wicke et al, 2009;Krishnan et al, 2012;Hidayah et al, 2018). Typically, a task space approach is taken; the joint torque values required for a multi-link serial-chain model of a leg to execute a desired trajectory in the task space are computed.…”

Section: Discussionmentioning

confidence: 99%

“…Alternatively, cable-driven systems that are lightweight, flexible, and do not interfere with the natural gait have been used to develop wearable systems for gait rehabilitation. Some of these systems include C-ALEX (Hidayah et al, 2018), A-TPAD (Vashista et al, 2014), and exosuits (Zhang et al, 2017;Bae et al, 2018;Kim et al, 2018) for lower limbs.…”

Section: Introductionmentioning

confidence: 99%

“…To achieve this, a leg exoskeleton is modeled and controlled as a multi-joint serial chain robotic system, which applies external forces on the thigh and shank segments to administer sufficient hip and knee joint torques to attain a healthy gait pattern. Studies using different leg exoskeletons have reported adaptation in the gait pattern of healthy and disabled individuals to the applied forces (Duschau-Wicke et al, 2009;Krishnan et al, 2012;Srivastava et al, 2016;Hidayah et al, 2018). These findings imply some level of adjustments by the human musculoskeletal system in response to the applied external forces on the leg.…”

Section: Introductionmentioning

confidence: 99%

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Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

2020

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Walking is one of the most relevant tasks that a person performs in their daily routine. Despite its mechanical complexities, any change in the external conditions that applies some external perturbation, or in the human musculoskeletal system that limits an individual's movement, entails a motor response that can either be compensatory or adaptive in nature. Incidentally, with aging or due to the occurrence of a neuro-musculoskeletal disorder, a combination of such changes including reduced sensory perception, muscle weakness, spasticity, etc. has been reported, and this can significantly degrade the human walking performance. Various studies in gait rehabilitation literature have identified a need for the development of better rehabilitation paradigms and have implied that an efficient human robot interaction is critical. Understanding how humans respond to a particular gait alteration can be beneficial in designing an effective rehabilitation paradigm. In this context, the current work investigates human locomotor adaptation to resistive alteration to the hip and ankle strategies of walking. A cable-driven robotic system, which does not add mobility constraints, was used to implement resistive force interventions within the hip and ankle joints separately through two experiments with eight healthy adult participants in each. In both cases, the intervention was applied during the push-off phase of walking, i.e., from pre-swing to terminal swing. The results showed that subjects in both groups adopted a compensatory response to the applied intervention and demonstrated intralimb and interlimb adaptation. Overall, the participants demonstrated a deviant gait implying lower limb musculoskeletal adjustments as if to compensate for a hip or ankle abnormality.

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Section: Discussionmentioning

confidence: 55%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

2020

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“…With the development of its technology, exoskeletons have been widely used in medical rehabilitation, logistics, and military fields [1][2][3][4][5]. Based on the structure mode, exoskeletons are divided into rigid assist [6][7][8] and flexible assist [9][10][11][12][13][14]. The rigid exoskeleton is composed of several rigid connecting rods, which are bound to the human limbs tightly.…”

Section: Introductionmentioning

confidence: 99%

Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton

Liu

et al. 2022

Applied Bionics and Biomechanics

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The Bowden cable is a significant force transmission equipment for a flexible exoskeleton. However, the previous researches of Bowden cable had emphasized on the data from experimenting test board, instead of on human body, which produced the inaccurate assisting analysis of the flexible exoskeleton. In this paper, a flexible exoskeleton for assisting knee extension was proposed, which provided an on-body condition. Then, the friction force and its influencing factors between the wire rope and sheath of the Bowden cable from the motor to the anchor of knee have been analyzed. The segment models of force transmission with the concern of three kinds of friction modes were established, and the relationship between various lengths and bending angles of Bowden cable was fitted to the equations of curve. Furthermore, the association rule between the force transmission and the lengths of Bowden cable was obtained, based on which, the optimal force transmission efficiency was 78.68% when the length value of the Bowden cable was 475 mm. A flexible exoskeleton prototype was assembled; then, the experiments with force transmission and metabolic cost have been developed. The results showed that the force transmission efficiency had strong association with the lengths of Bowden cable, instead of the transmission velocities. Furthermore, this knee assistance exoskeleton reduced the net metabolic cost of the testees during walking. These experiments results corroborated the force transmission modeling and simulation of the Bowden cable on body we proposed in this paper.

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Adaptive Backstepping-RBF Control of Lower Limb Exoskeleton

Kenas

Ababou

Saadia

2022

EAI/Springer Innovations in Communication and Computing

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Comparing the Performance of a Cable-Driven Active Leg Exoskeleton (C-ALEX) Over-Ground and on a Treadmill

Cited by 11 publications

References 16 publications

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton

Adaptive Backstepping-RBF Control of Lower Limb Exoskeleton

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