Design framework for a simple robotic ankle evaluation and rehabilitation device

Syrseloudis, Christos E.; Emiris, Ioannis Z.; Maganaris, Constantinos N.; Lilas, Theodoros

doi:10.1109/iembs.2008.4650163

Cited by 14 publications

(17 citation statements)

References 13 publications

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“…In order to record heel strike and toe-off to provide information about walking phases, FSR is used, located directly below the prosthetic foot. Furthermore, it is low in price, relatively thin, small, and produces analog-based signal [ 46 ]. The FSR sensor (S2f) is a pressure sensor that is used to detect the walking phase of the prosthetic knee, according to the S2f results for minimum stance, maximum stance, and minimum swing, essential in enhancing knee movement.…”

Section: Discussionmentioning

confidence: 99%

Technology Efficacy in Active Prosthetic Knees for Transfemoral Amputees: A Quantitative Evaluation

El‐Sayed

Hamzaid

Osman

2014

The Scientific World Journal

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Several studies have presented technological ensembles of active knee systems for transfemoral prosthesis. Other studies have examined the amputees' gait performance while wearing a specific active prosthesis. This paper combined both insights, that is, a technical examination of the components used, with an evaluation of how these improved the gait of respective users. This study aims to offer a quantitative understanding of the potential enhancement derived from strategic integration of core elements in developing an effective device. The study systematically discussed the current technology in active transfemoral prosthesis with respect to its functional walking performance amongst above-knee amputee users, to evaluate the system's efficacy in producing close-to-normal user performance. The performances of its actuator, sensory system, and control technique that are incorporated in each reported system were evaluated separately and numerical comparisons were conducted based on the percentage of amputees' gait deviation from normal gait profile points. The results identified particular components that contributed closest to normal gait parameters. However, the conclusion is limitedly extendable due to the small number of studies. Thus, more clinical validation of the active prosthetic knee technology is needed to better understand the extent of contribution of each component to the most functional development.

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Section: Discussionmentioning

confidence: 99%

Technology Efficacy in Active Prosthetic Knees for Transfemoral Amputees: A Quantitative Evaluation

El‐Sayed

Hamzaid

Osman

2014

The Scientific World Journal

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“…In this paper, a model verified by and commonly utilized in the biomechanics literature is adapted to study the kinematics of the human ankle (Syrseloudis et al 2008). This model, presented in Fig.…”

Section: Kinematics Of Human Anklementioning

confidence: 99%

Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

et al. 2016

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We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOnAnkle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/ proprioception exercises. In particular, through lockable joints, the underlying kinematics can be configured to either a self-aligning parallel mechanism that can naturally cover the whole RoM of the human ankle, or another parallel mechanism that can support the ground reaction forces/torques transferred to the ankle. Utilizing a single device to treat multiple phases of treatment is advantageous for robotic rehabilitation, since not only does it decrease the device cost and help with the space requirements, but also shorten the time it takes for patients to familiarize with the device. Bowden cable-based series-elastic actuation of AssistOn-Ankle allows for a remote placement of the motors/drivers to result in a compact design with low apparent inertia, while also enabling high-fidelity force/impedance control and active backdriveability of the device. This is one of several papers published in Autonomous Robots comprising the "Special Issue on Assistive and Rehabilitation Robotics". B Volkan Patoglu

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“…3,4 They include a broad range of application such as systems for gait training, [5][6][7] modified isokinetic tables, 8 , systems for rehabilitation of the upper limb (revised in 9 ) or active orthoses. [10][11][12] In the particular case of the rehabilitation of the lower limb, devices have been developed to generate ankle motions, usually intended for neurological rehabilitation, [13][14][15] although other applications are intended for ankle sprains. 16 The characteristics of the exercises to be performed in each case are very different, which means that the robot can be configured to suit different needs.…”

Section: Introductionmentioning

confidence: 99%

A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

Vallés¹,

Cazalilla²,

Valera³

et al. 2015

Robotica

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SUMMARYThis paper presents the design, kinematics, dynamics and control of a low-cost parallel rehabilitation robot developed at the Universitat Politècnica de Valencia. Several position and force controllers have been tested to ensure accurate tracking performances. An orthopedic boot, equipped with a force sensor, has been placed over the platform of the parallel robot to perform exercises for injured ankles. Passive, active-assistive and active-resistive exercises have been implemented to train dorsi/plantar flexion, inversion and eversion ankle movements. In order to implement the controllers, the component-based middleware Orocos has been used with the advantage over other solutions that the whole scheme control can be implemented modularly. These modules are independent and can be configured and reconfigured in both configuration and runtime. This means that no specific knowledge is needed by medical staff, for example, to carry out rehabilitation exercises using this low-cost parallel robot. The integration between Orocos and ROS, with a CAD model displaying the actual position of the rehabilitation robot in real time, makes it possible to develop a teleoperation application. In addition, a teleoperated rehabilitation exercise can be performed by a specialist using a Wiimote (or any other Bluetooth device).

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Design framework for a simple robotic ankle evaluation and rehabilitation device

Cited by 14 publications

References 13 publications

Technology Efficacy in Active Prosthetic Knees for Transfemoral Amputees: A Quantitative Evaluation

Technology Efficacy in Active Prosthetic Knees for Transfemoral Amputees: A Quantitative Evaluation

Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

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