State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Hussain, Shahid; Jamwal, Prashant K.; Ghayesh, Mergen H.

doi:10.1177/0954411917737584

Cited by 35 publications

(28 citation statements)

References 57 publications

(200 reference statements)

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“…Wearable ankle rehabilitation robots known as a powered ankle exoskeleton or a powered ankle-foot orthoses are being developed (Hussain et al, 2017). In accordance with the FDA's definition, a robotic exoskeleton is a prescription device which consists of external and powered orthosis for medicine, and which is attached to a person's paralyzed or weakened limbs to assist with ambulation' (Food and Drug Administration, HHS 2015) (Contreras-Vidal et al, 2016).…”

Section: Resultsmentioning

confidence: 99%

Wearable Ankle Robots in Post-stroke Rehabilitation of Gait: A Systematic Review

Shi

Chen²,

Zan

et al. 2019

Front. Neurorobot.

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Background: Stroke causes weak functional mobility in survivors and affects the ability to perform activities of daily living. Wearable ankle robots are a potential intervention for gait rehabilitation post-stroke. Objective: The aim of this study is to provide a systematic review of wearable ankle robots, focusing on the overview, classification and comparison of actuators, gait event detection, control strategies, and performance evaluation. Method: Only English-language studies published from December 1995 to July 2018 were searched in the following databases: PubMed, EMBASE, Web of Science, Scopus, IEEE Xplore, Science Direct, SAGE journals. Result: A total of 48 articles were selected and 97 stroke survivors participated in these trials. Findings showed that few comparative trials were conducted among different actuators or control strategies. Moreover, mixed sensing technology which combines kinematic with kinetic information was effective in detecting motion intention of stroke survivors. Furthermore, all the selected clinical studies showed an improvement in the peak dorsiflexion degree of the swing phase, propulsion on the paretic side during push-off, and further enhanced walking speed after a period of robot-assisted ankle rehabilitation training. Conclusions: Preliminary findings suggest that wearable ankle robots have certain clinical benefits for the treatment of hemiplegic gait post-stroke. In the near future, a multicenter randomized controlled clinical trial is extremely necessary to enhance the clinical effectiveness of wearable ankle robots.

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Section: Resultsmentioning

confidence: 99%

Wearable Ankle Robots in Post-stroke Rehabilitation of Gait: A Systematic Review

Shi

Chen²,

Zan

et al. 2019

Front. Neurorobot.

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“…However, a force sensor offers additional information such as the GRF, which can be used to estimate the desired joint torque [75,77]. When using a GRF sensor, the position of the sensor should be especially considered for obtaining the reading from the heel contact force [12]. Thus, it can be concluded that certain factors should be considered when choosing between an adaptive and fixed output reference for an AFO.…”

Section: Output Reference: Fixed Versus Adaptivementioning

confidence: 99%

“…Nowadays, the ancillary equipment is enhanced with robotic technologies, such as an orthosis and exoskeleton, to make it more sophisticated for rehabilitation sessions. Not only can the bio-physical data be monitored, but the training process can also be automated with the addition of robotic technology with an emphasis on assist-as-needed training [12]. Therefore, it is now possible to replace most of the work of therapists in conventional training through the use of robotics-enhanced ancillary equipment.…”

Section: Introductionmentioning

confidence: 99%

A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance

et al. 2019

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In the past decade, advanced technologies in robotics have been explored to enhance the rehabilitation of post-stroke patients. Previous works have shown that gait assistance for post-stroke patients can be provided through the use of robotics technology in ancillary equipment, such as Ankle Foot Orthosis (AFO). An AFO is usually used to assist patients with spasticity or foot drop problems. There are several types of AFOs, depending on the flexibility of the joint, such as rigid, flexible rigid, and articulated AFOs. A rigid AFO has a fixed joint, and a flexible rigid AFO has a more flexible joint, while the articulated AFO has a freely rotating ankle joint, where the mechanical properties of the AFO are more controllable compared to the other two types of AFOs. This paper reviews the control of the mechanical properties of existing AFOs for gait assistance in post-stroke patients. Several aspects that affect the control of the mechanical properties of an AFO, such as the controller input, number of gait phases, controller output reference, and controller performance evaluation are discussed and compared. Thus, this paper will be of interest to AFO researchers or developers who would like to design their own AFOs with the most suitable mechanical properties based on their application. The controller input and the number of gait phases are discussed first. Then, the discussion moves forward to the methods of estimating the controller output reference, which is the main focus of this study. Based on the estimation method, the gait control strategies can be classified into subject-oriented estimations and phase-oriented estimations. Finally, suggestions for future studies are addressed, one of which is the application of the adaptive controller output reference to maximize the benefits of the AFO to users.

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“…During the conventional manually physiotherapy, human ankle complex (HAC) is moved by a physical therapist with its range of motion (ROM). However, it possesses many limitations such as, the duration inconsistency and frequency indetermination of the treatment procedures, the physical demand, and experience requirement of the therapist, and the subjective evaluation of the therapeutic results (Meng et al, 2015;Hussain et al, 2017). In view of this situation, to provide high-quality rehabilitation treatment with repetitive sessions, quantitative measurements, scientifical therapy, and systematic operation, robot-assisted rehabilitation has become a field that receives more, and more research attention.…”

Section: Introductionmentioning

confidence: 99%

Design and Performance Evaluation of a Novel Wearable Parallel Mechanism for Ankle Rehabilitation

Zuo

Dong

et al. 2020

Front. Neurorobot.

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Repetitive and intensive physiotherapy is indispensable to patients with ankle disabilities. Increasingly robot-assisted technology has been employed in the treatment to reduce the burden of the therapists and the related costs of the patients. This paper proposes a configuration of a wearable parallel mechanism to supplement the equipment selection for ankle rehabilitation. The kinematic analysis, i.e., the inverse position solution and Jacobian matrices, is elaborated. Several performance indices, including the reachable workspace index, motion isotropy index, force transfer index, and maximum torque index, are developed based on the derived kinematic solution. Moreover, according to the proposed kinematic configuration and wearable design concept, the mechanical structure that contains a basic machine-drive system and a multi-model position/force data collection system is designed in detail. Finally, the results of the performance evaluation indicate that the wearable parallel robot possesses sufficient motion isotropy, high force transfer performance, and large maximum torque performance within a large workspace that can cover all possible range of motion of human ankle complex, and is suitable for ankle rehabilitation.

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State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Cited by 35 publications

References 57 publications

Wearable Ankle Robots in Post-stroke Rehabilitation of Gait: A Systematic Review

Wearable Ankle Robots in Post-stroke Rehabilitation of Gait: A Systematic Review

A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance

Design and Performance Evaluation of a Novel Wearable Parallel Mechanism for Ankle Rehabilitation

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