Research on Design Theory and Compliant Control for Underactuated Lower-extremity Rehabilitation Robotic Systems

Abstract

[Purpose] The aim of this study was to investigate the immediate effect of Lokomat versus Ergo_bike training using the Probe Reaction Time (P-RT) and 10-m maximum walking speed as the outcome measures, on incomplete spinal cord injury (iSCI) patients. [Subjects] Thirty male T8–L3 level spinal cord injury patients were the subjects. [Methods] The subjects were randomly divided into 2 groups: a Lokomat group and an Ergo_bike group. Each group consisted of 15 subjects. The P-RT and 10 m maximum walking speed were measured before and after the intervention for each group. [Results] The P-RT and the time taken to cover 10 m at maximum walking speed decreased significantly in the Lokomat group. [Conclusion] The Lokomat training not only decreased P-RT, but also improved the walking ability of subjects with iSCI.

Robot-assisted gait training (Lokomat) improves walking function and activity in people with spinal cord injury: a systematic review

“…Five trials were conducted in the U.S. [16–20], 2 in Spain [21, 22], 1 in Switzerland [23], 1 in China [24], and 1 in Korea. [25] All trials compared parallel intervention groups, and one study [23] used a crossover design.…”

“…All included studies provided information on the level of spinal cord injury (C2 to L3) and baseline severity (AIS grades B to D); i.e., incomplete SCI. Most studies involved upper motor neuron lesions only, but two [22, 24] also included participants with lower motor neuron lesions. Most studies were AIS grade C/D [16, 17, 20–23] or D [24, 25], motor incomplete SCI only, but two studies [18, 19] included AIS grade B/C/D, motor or sensory incomplete SCI.…”

“…Most studies involved upper motor neuron lesions only, but two [22, 24] also included participants with lower motor neuron lesions. Most studies were AIS grade C/D [16, 17, 20–23] or D [24, 25], motor incomplete SCI only, but two studies [18, 19] included AIS grade B/C/D, motor or sensory incomplete SCI. Of the participants, 263 in four studies [18, 21, 22, 25] were assessed at < 6 months post-injury and 209 in five studies [16, 17, 19, 20, 23] were assessed at > 12 months post-injury.…”

“…Of the participants, 263 in four studies [18, 21, 22, 25] were assessed at < 6 months post-injury and 209 in five studies [16, 17, 19, 20, 23] were assessed at > 12 months post-injury. The remaining 30 participants in one study (mean 6.3 months post-injury) did not belong to any group [24]. To account for possible spontaneous neurologic recovery, any trials involving participants at an early or acute stage after SCI (<1 year post-injury) [21, 28–31] and those whose participants were at a chronic stage (>1 year post-injury) [17, 27, 31] were analyzed separately [2, 32, 33].…”

“…Among 10 comparisons, 3 investigated RAGT versus conventional OGT [21, 22, 25] and 2 investigated RAGT versus BWS gait training [17, 18]. Two investigated RAGT versus non-gait-specific training (strength [23] or bike [24]). Finally, three trials compared RAGT with no intervention [16, 19, 20].…”