Pilot study of single-legged walking support using wearable robot based on synchronization control for stroke patients

Tsukahara, Atsushi; Hashimoto, Minoru

doi:10.1109/robio.2016.7866436

Cited by 8 publications

(3 citation statements)

References 21 publications

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“…In contrast, the CPG proposed for the Curara prototype simulated the excitation and inhibition of neurons of the central nervous system. It used the interaction torque between the robot and the impaired limb to estimate the gait phase and generate an assistive reference trajectory from a predefined pattern ( Tsukahara and Hashimoto, 2016 ; Mizukami et al, 2018 ). Other authors opted for synchronizing the CPG output with the detection of floor contact events ( Dzeladini et al, 2016 ; Tamburella et al, 2020 ) or with the estimated knee torque from the knee flexor/extensor EMG ( Gui et al, 2017 ).…”

Section: State Of the Artmentioning

confidence: 99%

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Lora-Millán

Moreno

Rocón

2022

Front. Bioeng. Biotechnol.

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Lower-limb robotic exoskeletons have become powerful tools to assist or rehabilitate the gait of subjects with impaired walking, even when they are designed to act only partially over the locomotor system, as in the case of unilateral or single-joint exoskeletons. These partial exoskeletons require a proper method to synchronize their assistive actions and ensure correct inter-joint coordination with the user’s gait. This review analyzes the state of the art of control strategies to coordinate the assistance provided by these partial devices with the actual gait of the wearers. We have analyzed and classified the different approaches independently of the hardware implementation, describing their basis and principles. We have also reviewed the experimental validations of these devices for impaired and unimpaired walking subjects to provide the reader with a clear view of their technology readiness level. Eventually, the current state of the art and necessary future steps in the field are summarized and discussed.

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Section: State Of the Artmentioning

confidence: 99%

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Lora-Millán

Moreno

Rocón

2022

Front. Bioeng. Biotechnol.

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“…Prioritizing user-friendliness in terms of ease in don/doffing and minimizing the restraining stress against the natural human movement, Mizukami et al adopted a non-exoskeletal structure coupled with a synchronization-based control system, introducing the ability to feel what natural movement would be like. Due to the absence of any rigid connection between joint frames, the device provides a high degree of freedom for patient movement ( Tsukahara and Hashimoto, 2016 ; Tsukahara et al, 2017 ; Mizukami et al, 2018 ). Lee et al developed a smart wearable hip-assist robot for restoring the locomotor function, the Gait Enhancing and Motivating System (GEMS, Samsung Advanced Institute of Technology, Suwon, South Korea).…”

Section: Home-based Rehabilitation Systemsmentioning

confidence: 99%

Robotic Home-Based Rehabilitation Systems Design: From a Literature Review to a Conceptual Framework for Community-Based Remote Therapy During COVID-19 Pandemic

2021

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During the COVID-19 pandemic, the higher susceptibility of post-stroke patients to infection calls for extra safety precautions. Despite the imposed restrictions, early neurorehabilitation cannot be postponed due to its paramount importance for improving motor and functional recovery chances. Utilizing accessible state-of-the-art technologies, home-based rehabilitation devices are proposed as a sustainable solution in the current crisis. In this paper, a comprehensive review on developed home-based rehabilitation technologies of the last 10 years (2011–2020), categorizing them into upper and lower limb devices and considering both commercialized and state-of-the-art realms. Mechatronic, control, and software aspects of the system are discussed to provide a classified roadmap for home-based systems development. Subsequently, a conceptual framework on the development of smart and intelligent community-based home rehabilitation systems based on novel mechatronic technologies is proposed. In this framework, each rehabilitation device acts as an agent in the network, using the internet of things (IoT) technologies, which facilitates learning from the recorded data of the other agents, as well as the tele-supervision of the treatment by an expert. The presented design paradigm based on the above-mentioned leading technologies could lead to the development of promising home rehabilitation systems, which encourage stroke survivors to engage in under-supervised or unsupervised therapeutic activities.

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“…Wearable assistive devices have been developed recently to prolong the health spans of the elderly or to reduce heavy manual labor [1][2][3]. These devices are required to provide flexible assistance in a safe and natural way.…”

Section: Introductionmentioning

confidence: 99%

Proposal of air compressing device using walking vibration energy regeneration for pneumatic driven assistive device

Okui

Yamada

Nakamura

2018

Robotics Transforming the Future

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Pneumatically driven wearable assistive devices for walking have been developed recently. These devices can achieve flexible assistance without control; however, they require large and heavy air compressors for activation. In this study, a pneumatically driven source using vibration energy regeneration from walking was developed. The aim was to activate the cylinder using vibrations due to walking and compressed air. A mass element, which is connected to a human body via a spring and a cylinder, vibrates along with the human gait cycle. Next, a prototype was developed and tested. In walking experiments, stored pressure was measured at several gait cycles and masses for comparison. Results indicate that the gait cycle period and masses affect the stored pressure; the highest pressure recorded was 0.08 MPa.

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Pilot study of single-legged walking support using wearable robot based on synchronization control for stroke patients

Cited by 8 publications

References 21 publications

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Robotic Home-Based Rehabilitation Systems Design: From a Literature Review to a Conceptual Framework for Community-Based Remote Therapy During COVID-19 Pandemic

Proposal of air compressing device using walking vibration energy regeneration for pneumatic driven assistive device

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