An active orthosis （AO） is a robotic device that assists both human gait and rehabilitation therapy. This work proposes portable AOs, one for the knee joint and another for the ankle joint. Both AOs will be used to ...An active orthosis （AO） is a robotic device that assists both human gait and rehabilitation therapy. This work proposes portable AOs, one for the knee joint and another for the ankle joint. Both AOs will be used to complete a robotic system that improves gait rehabilitation. The requirements for actuator selection, the biomechanical considerations during the AO design, the finite element method, and a control approach based on electroencepha-lographic and surface electromyographic signals are reviewed. This work contributes to the design of AOs for users with foot drop and knee flexion impairment. However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves the quality of life of stroke survivors requires further investigation.展开更多
This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. Th...This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.展开更多
Human performs bipedal gait with synchronized arm swing. Apart from the observation that arm movement during gait is the outcome of a mechanical and energetic optimization, the synergetic upper and lower limb movement...Human performs bipedal gait with synchronized arm swing. Apart from the observation that arm movement during gait is the outcome of a mechanical and energetic optimization, the synergetic upper and lower limb movement during gait is a neutrally coordinated motor output, that is, the interlimb movement is neutrally coupled. Patients with injuries to the central nervous system demonstrate the interlimb neural coupling.Researches on central pattern generator and the reflex studies reveal that the interlimb neural coupling is a quadrupedal heritage. Based on the theory of the interlimb neural coupling, both the upper and lower limbs should be practiced synchronously during regular gait training to promote walking rehabilitation for patients with gait disorders. Further development of a gait robotic system with synchronized arm swing is required to test the clinical application of the neural coupling in gait restoration.展开更多
文摘An active orthosis （AO） is a robotic device that assists both human gait and rehabilitation therapy. This work proposes portable AOs, one for the knee joint and another for the ankle joint. Both AOs will be used to complete a robotic system that improves gait rehabilitation. The requirements for actuator selection, the biomechanical considerations during the AO design, the finite element method, and a control approach based on electroencepha-lographic and surface electromyographic signals are reviewed. This work contributes to the design of AOs for users with foot drop and knee flexion impairment. However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves the quality of life of stroke survivors requires further investigation.
文摘This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.
文摘Human performs bipedal gait with synchronized arm swing. Apart from the observation that arm movement during gait is the outcome of a mechanical and energetic optimization, the synergetic upper and lower limb movement during gait is a neutrally coordinated motor output, that is, the interlimb movement is neutrally coupled. Patients with injuries to the central nervous system demonstrate the interlimb neural coupling.Researches on central pattern generator and the reflex studies reveal that the interlimb neural coupling is a quadrupedal heritage. Based on the theory of the interlimb neural coupling, both the upper and lower limbs should be practiced synchronously during regular gait training to promote walking rehabilitation for patients with gait disorders. Further development of a gait robotic system with synchronized arm swing is required to test the clinical application of the neural coupling in gait restoration.
