Lower-Limb Robotic Rehabilitation: Literature Review and Challenges

Díaz, Iñaki; Gil, Jorge Juan; Sánchez, Emilio

doi:10.1155/2011/759764

Cited by 453 publications

(247 citation statements)

References 69 publications

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“…Lower-limb exoskeletons for rehabiliation were grouped as treadmill gait trainers, foot-plate-based gait trains, overground gait trainers and stationary gait trainers according to rehabilitation principle (Fig. 6) [28]. Treadmill gait trainer system combines BWS and exoskeleton type robots.…”

Section: Rehabilitation Applicationsmentioning

confidence: 99%

Development of Exoskeletons and Applications on Rehabilitation

Guan

Wang

2016

MATEC Web of Conferences

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Abstract. For over a century, the development of exoskeletons experienced five periods including sprout, exploration, dormancy, accumulation and climax period from a concept in 19 th century to applications in distinctive fields in 21 th century. Recently, exoskeletons are applied in military, civilian and rehabilitation to augment the travel and loading abilities of soldiers, increase an operator's load-handling capabilities, reduce the occurrence of musculoskeletal disorders, and improve the lost functions and quality of life of patients, respectively. Aiming at lessening the strain on physical therapists to train patients with severe or degenerative disabilities, motor cognitive limitation and improving their quality of life, exoskeletons are applied on the field of rehabilitation, mainly on patient training and locomotion. Although great progress has been made in the century long effort to design and implement exoskeletons, many design challenges still remain including powered devices, the comfort of human-machine interface and how to effectively understand the wearer's intensions.

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Section: Rehabilitation Applicationsmentioning

confidence: 99%

Development of Exoskeletons and Applications on Rehabilitation

Guan

Wang

2016

MATEC Web of Conferences

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“…A recent review on lower limb robotic rehabilitation [28] describes the most relevant available technologies. In general these systems can be grouped according to the rehabilitation principle they follow [28]: (i) treadmill gait trainers, (ii) foot-plate-based gait trainers, (iii) overground gait trainers, (iv) stationary gait trainers, (v) ankle rehabilitation systems (stationary systems and active foot orthoses).…”

Section: Existing Systemsmentioning

confidence: 99%

“…In general these systems can be grouped according to the rehabilitation principle they follow [28]: (i) treadmill gait trainers, (ii) foot-plate-based gait trainers, (iii) overground gait trainers, (iv) stationary gait trainers, (v) ankle rehabilitation systems (stationary systems and active foot orthoses). The description of a number of upper limb rehabilitation devices can be found in [27,29,30].…”

Section: Existing Systemsmentioning

confidence: 99%

Bridging the gap between robotic technology and health care

Andrade

Pereira

Walter

et al. 2014

Biomedical Signal Processing and Control

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Although technology and computation power have become more and more present in our daily lives, we have yet to see the same tendency in robotics applied to health care. In this work we focused on the study of four distinct applications of robotic technology to health care, named Robotic Assisted Surgery, Robotics in Rehabilitation, Prosthetics and Companion Robotic Systems. We identified the main roadblocks that are limiting the progress of such applications by an extensive examination of recent reports. Based on the limitations of the practical use of current robotic technology for health care we proposed a general modularization approach for the conception and implementation of specific robotic devices. The main conclusions of this review are: (i) There is a clear need of the adaptation of robotic technology (closed loop) to the user, so that robotics can be widely accepted and used in the context of heath care; (ii) For all studied robotic technologies cost is still prohibitive and limits their wide use. The reduction of costs influences technology acceptability, thus innovation by using cheaper computer systems and sensors are relevant and should be taken into account in the implementation of robotic systems.

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“…The generally assistive functions of Powered Lower Limb Orthosis (PLLO) could be explained as follows [10]:…”

Section: Assistive Control Designmentioning

confidence: 99%

“…The duration estimation of each state is calculated by (9), then by state-phase mapping relationship we could get the duration estimation for phase j as ( ) . Linear interpolations are used in phases 1 and 2, and the magnitudes of constant knee angular velocity is calculated by (10). And quadratic interpolations in phases 3 and 4 assume that the knee angular accelerations are constant in magnitude calculated by (11).…”

Section: A Reference Pattern Generationmentioning

confidence: 99%