Robotic gait trainer in water: Development of an underwater gait-training orthosis

Miyoshi, Tasuku; Hiramatsu, Kazuaki; Yamamoto, Shin; Nakazawa, Kimitaka; Akai, Masami

doi:10.1080/09638280701191826

Cited by 23 publications

(13 citation statements)

References 15 publications

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“…The performance of SCG participants in water is mainly due to the physical properties of water, especially buoyancy and hydrostatic pressure, which act in a way that decreases apparent body weight and contributes to ascending movements (9,28). These properties lead to a reduced requirement for muscle activation (15) and for the generation of joint torque (18).…”

Section: Discussionmentioning

confidence: 99%

Gait characteristics of persons with incomplete spinal cord injury in shallow water

Iucksch¹,

Israel²,

Ribas³

et al. 2013

J Rehabil Med

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Section: Discussionmentioning

confidence: 99%

Gait characteristics of persons with incomplete spinal cord injury in shallow water

Iucksch¹,

Israel²,

Ribas³

et al. 2013

J Rehabil Med

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“…Moreover, as the system involves compressed air and the expansion and contraction of the braided rubber tube, it is possible to perform the orthosis in an underwater rehabilitation training scenario. Our earlier laboratory study of the robotic gait trainer (RGTW) indicated that hydrotherapy may be particularly effective in the treatment of individuals with hip joint movement dysfunction [26]. Since the PMA characteristics are based on its model parameters such as dimension (i.e., length and contraction) and pressure, the maximum contraction of PMA will prevent the exoskeleton of the AIRGAIT leg orthosis from exceeding the limitation of the joints [27].…”

Section: Safety Featuresmentioning

confidence: 99%

Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

Dzahir

Yamamoto

2013

Journal of Robotics

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This paper introduces the body weight support gait training system known as the AIRGAIT exoskeleton and delves into the design and evaluation of its leg orthosis control algorithm. The implementation of the mono- and biarticular pneumatic muscle actuators (PMAs) as the actuation system was initiated to generate more power and precisely control the leg orthosis. This research proposes a simple paradigm for controlling the mono- and bi-articular actuator movements cocontractively by introducing a cocontraction model. Three tests were performed. The first test involved control of the orthosis with monoarticular actuators alone without a subject (WO/S); the second involved control of the orthosis with mono- and bi-articular actuators tested WO/S; and the third test involved control of the orthosis with mono- and bi-articular actuators tested with a subject (W/S). Full body weight support (BWS) was implemented in this study during the test W/S as the load supported by the orthosis was at its maximum capacity. This assessment will optimize the control system strategy so that the system operates to its full capacity. The results revealed that the proposed control strategy was able to co-contractively actuate the mono- and bi-articular actuators simultaneously and increase stiffness at both hip and knee joints.

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“…However, the design philosophy of this system may provide a significant insight into the development of rehabilitation orthosis systems and improve rehabilitative procedures for paraplegic patients. [38]; and (c) powered ankle-foot exoskeleton [39].…”

Section: It Was Developed In 2006 As Shown Inmentioning

confidence: 99%

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

2014

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Abstract:It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA) and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM) or pneumatic muscle actuators (PMA). It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

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Robotic gait trainer in water: Development of an underwater gait-training orthosis

Abstract: Using the RGTW could expect not only the effect of the hydrotherapy but also the standard treadmill gait training, in particular, and may be particularly effective for treating individuals with hip joint movement dysfunction.

Cited by 23 publications

References 15 publications

Gait characteristics of persons with incomplete spinal cord injury in shallow water

Gait characteristics of persons with incomplete spinal cord injury in shallow water

Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

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