Robot-Assisted Gait Self-Training: Assessing the Level Achieved

Abstract

This paper presents the technological status of robot-assisted gait self-training under real clinical environment conditions. A successful rehabilitation after surgery in hip endoprosthetics comprises self-training of the lessons taught by physiotherapists. While doing this, immediate feedback to the patient about deviations from the expected physiological gait pattern during training is important. Hence, the Socially Assistive Robot (SAR) developed for this type of training employs task-specific, user-centered navigation and autonomous, real-time gait feature classification techniques to enrich the self-training through companionship and timely corrective feedback. The evaluation of the system took place during user tests in a hospital from the point of view of technical benchmarking, considering the therapists’ and patients’ point of view with regard to training motivation and from the point of view of initial findings on medical efficacy as a prerequisite from an economic perspective. In this paper, the following research questions were primarily considered: Does the level of technology achieved enable autonomous use in everyday clinical practice? Has the gait pattern of patients who used additional robot-assisted gait self-training for several days been changed or improved compared to patients without this training? How does the use of a SAR-based self-training robot affect the motivation of the patients?

Measurement, Evaluation, and Control of Active Intelligent Gait Training Systems—Analysis of the Current State of the Art

“…These technologies include mechanical design technology, embedded system technology, sensing and detection technology, automatic control technology, motor control technology, microelectronics technology, interface technology, and software programming. Table 4 shows several gait training systems and their control strategies from recent studies [84][85][86][87][88][89][90][91][92][93][94][95][96][97][98][99][100][101][102]. Pure force/position control means the gait training systems make corresponding operations by detecting human gait events, but do not care about the information of humanmachine interaction, while systems with impedance/admittance control strategy use the human-machine interaction information such as interaction force/torque and relative A walker is a walking rehabilitation assistive device used to assist users in standing and walking activities which can effectively help users improve their walking ability and is of great significance to a large number of disabled or elderly people.…”

A Little Bit Attention Is All You Need for Person Re-Identification

“…This way, the robot addressed the patients' insecurity and anxiety of not being able to perform the exercises or not being able to find the way back to their apartment, which are possible reasons for neglecting self-training. Another example is a robotic assistant that coached patients during their walking exercises, which were taught to them by physiotherapists after hip endoprosthetics surgery [2], [3]. The robot was intended as a kind of physiotherapist replacement to provide immediate feedback to the patient regarding any deviations from the expected physiological gait pattern.…”

Efficacy of Robot-Assisted Gait Therapy Compared to Conventional Therapy or Treadmill Training in Children with Cerebral Palsy: A Systematic Review with Meta-Analysis

“…However, in the last few years for the rehabilitation of gait, balance and functional upper extremity movements in children with CP, technological advances have introduced new devices such as virtual reality hardware and software, sophisticated balance platforms or kinematic sensors, such as Leap Motion Controller™ with valuable results [35][36][37][38][39]. Among these new technological approaches for rehabilitation in adulthood and childhood is the use of robotic devices [40,41], especially for gait training in patients with neurological deficits [42]. Robot-assisted gait therapy (RAGT) devices use an orthosis anchored to the body through an adjustable harness, which allows assisted walking on the treadmill [43].…”