Control strategies for effective robot assisted gait rehabilitation: The state of art and future prospects

Cao, Jinghui; Xie, Shane; Das, Raj; Zhu, Guo

doi:10.1016/j.medengphy.2014.08.005

Cited by 128 publications

(88 citation statements)

References 113 publications

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“…Bu kısıtlılıklar rehabilitasyon mühendisliği alanında yeni yöntemlerin araştırılmasına yönelik kapı açmış ve ritmik sensorial input girişi ile yoğun hızlı ve görev-spesifik egzersizlerin yapılmasını sağlayan robotik yürüme sistemlerinin geliştirilmesi gündeme gelmeye başlamıştır (10,24,27). Robotik sistemlerin diğer egzersiz yöntemleri ile karşılaştırıldığında, daha uzun sü-reli ve daha yoğun bir egzersiz programının sürdürülebilmesi, egzersize uyumun yüksek olması, hastada ileri düzeyde motivasyon sağlaması, fonksiyonel progresyonun değerlendirilmesi, raporlanması ve tedavi etkinliğinin objektif izlenebilmesi gibi avantajları mevcuttur (10).…”

Section: S39unclassified

“…Rehabilitasyon robotları tasarım esasına göre end-effector ve eksoskeleton cihazlar olmak üzere 2 grupta incelenebilir (10,24).…”

Section: Robotik Sistemlerunclassified

“…Rehabilitasyon amacıyla geliştiri-len robotlar herhangi bir görevi yerine getirmek için belirlenen hareketleri yaptıran, çok fonksiyonlu, programlanabilen, şekil, büyüklük ve sistemleri bakımından farklılıkları olan cihazlardır. Robotik sistemler ritmik sensorial input girişi ile yoğun hızlı ve görev-spesifik egzersizlerin yapılmasını sağlayarak OY hastaların yürüme rehabilitasyonunda kullanılmaktadır (10).…”

Section: Introductionunclassified

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Robot-Assisted Gait Training for Patients with Spinal Cord Injury

Demir¹

2015

Turk J Phys Med Rehab

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Regaining one's ability to walk is of great importance in spinal cord injury (SCI) patients, and it is the major goal of all rehabilitation programs. In recent years, several pharmacological treatments and rehabilitative approaches have been initiated to enhance the locomotion capacity of SCI patients. Robot-assisted gait training is re-education of the gait movements in a functional and task-oriented way through robotic systems. It has been suggested that this method be combined with other rehabilitation approaches to yield better results in SCI rehabilitation.

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Section: S39unclassified

“…Rehabilitasyon robotları tasarım esasına göre end-effector ve eksoskeleton cihazlar olmak üzere 2 grupta incelenebilir (10,24).…”

Section: Robotik Sistemlerunclassified

Section: Introductionunclassified

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Robot-Assisted Gait Training for Patients with Spinal Cord Injury

Demir¹

2015

Turk J Phys Med Rehab

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“…Firstly, the training with the exoskeleton needs to be task specific [19]. Hence the developed system needs to provide sufficient controlled range of motion and bandwidth for gait training.…”

Section: Introductionmentioning

confidence: 99%

MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles

Cao

Xie

Das

2018

IEEE Trans. Contr. Syst. Technol.

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“…Furthermore, the gait support has a particularly meaningful role in the regaining of walking function in several SCI patients. Therefore, lower-limb exoskeletons are designed to provide movement assistance for people suffering SCI and have attracted increasing interest from both academic researchers and industrial entrepreneurs [3–5]. …”

Section: Introductionmentioning

confidence: 99%

Dynamic Balance Gait for Walking Assistance Exoskeleton

Chen

Cheng

Yue

et al. 2018

Applied Bionics and Biomechanics

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Purpose Powered lower-limb exoskeleton has gained considerable interests, since it can help patients with spinal cord injury(SCI) to stand and walk again. Providing walking assistance with SCI patients, most exoskeletons are designed to follow predefined gait trajectories, which makes the patient walk unnaturally and feels uncomfortable. Furthermore, exoskeletons with predefined gait trajectories cannot always maintain balance walking especially when encountering disturbances. Design/Methodology/Approach This paper proposed a novel gait planning approach, which aims to provide reliable and balance gait during walking assistance. In this approach, we model the exoskeleton and patient together as a linear inverted pendulum (LIP) and obtain the patients intention through orbital energy diagram. To achieve dynamic gait planning of exoskeleton, the dynamic movement primitive (DMP) is utilized to model the gait trajectory. Meanwhile, the parameters of DMP are updated dynamically during one step, which aims to improve the ability of counteracting external disturbance. Findings The proposed approach is validated in a human-exoskeleton simulation platform, and the experimental results show the effectiveness and advantages of the proposed approach. Originality/Value We decomposed the issue of obtain dynamic balance gait into three parts: (1) based on the sensory information of exoskeleton, the intention estimator is designed to estimate the intention of taking a step; (2) at the beginning of each step, the discrete gait planner utilized the obtained gait parameters such as step length S and step duration T and generate the trajectory of swing foot based on (S, T); (3) during walking process, continuous gait regulator is utilized to adjust the gait generated by discrete gait planner to counteract disturbance.

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Control strategies for effective robot assisted gait rehabilitation: The state of art and future prospects

Cited by 128 publications

References 113 publications

Robot-Assisted Gait Training for Patients with Spinal Cord Injury

Robot-Assisted Gait Training for Patients with Spinal Cord Injury

MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles

Dynamic Balance Gait for Walking Assistance Exoskeleton

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