Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428555
E. de Vlugt, A. Schouten, F. V. D. van der Helm
Motoneurons in the spinal cord activate the muscles and, as being the 'final common pathway', receive input from sensory afferents (muscle spindles, Golgi tendon organs) and input from higher brain centers. Afferent feedback plays an important role during human motor control and is an adaptive regulator assisting different types of movement and loading conditions. The integration of peripheral feedback and supraspinal input from the brain is topic of ongoing and future research, both in the normal situation and in pathological cases. Movement disorders like spasticity are often attributed to a disbalance between peripheral feedback and supraspinal commands. This laboratory paper gives an overview of the research performed on human movement control and system identification, as carried out by the Delft Laboratory for Neuromuscular Control (NMC). The merits and limitations of current methods are discussed and the future lines of research are sketched. At the end, possible clinical applications are described. It is concluded that system identification techniques are a very useful tool to gain insight into the (patho)physiology of the human movement system. Clinical application of identification techniques is in it's early stage and is a very promising field of multidisciplinary research.
{"title":"The Delft Laboratory for Neuromuscular Control: Haptic Robots for the Identification of Neuro-Muscular Control","authors":"E. de Vlugt, A. Schouten, F. V. D. van der Helm","doi":"10.1109/ICORR.2007.4428555","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428555","url":null,"abstract":"Motoneurons in the spinal cord activate the muscles and, as being the 'final common pathway', receive input from sensory afferents (muscle spindles, Golgi tendon organs) and input from higher brain centers. Afferent feedback plays an important role during human motor control and is an adaptive regulator assisting different types of movement and loading conditions. The integration of peripheral feedback and supraspinal input from the brain is topic of ongoing and future research, both in the normal situation and in pathological cases. Movement disorders like spasticity are often attributed to a disbalance between peripheral feedback and supraspinal commands. This laboratory paper gives an overview of the research performed on human movement control and system identification, as carried out by the Delft Laboratory for Neuromuscular Control (NMC). The merits and limitations of current methods are discussed and the future lines of research are sketched. At the end, possible clinical applications are described. It is concluded that system identification techniques are a very useful tool to gain insight into the (patho)physiology of the human movement system. Clinical application of identification techniques is in it's early stage and is a very promising field of multidisciplinary research.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130266649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428517
Amo H. A. Stienen, E. Hekman, F. C. T. Helm, G. Prange, M. Jannink, A. Aalsma, H. Kooij
In most upper-extremity rehabilitation robotics, several components affect the therapy outcome. A common component is gravity compensation which alleviates upper-extremity movements. Gravity compensation by itself could improve motor control further or faster, separate from other effects of robotic therapy. To investigate the rehabilitation value of gravity compensation separately, we created the dedicated gravity compensation system, Freebal. The sling systems with ideal spring mechanisms in the Freebal are well suited for providing compensation forces. The device has steplessly scalable forces, a large range of motion with constant compensation forces, independent control of the compensation of the lower and upper arm, and low movement impedance. It also does not need external power, force sensors or active controllers. Finally, the Freebal can be easily moved, serviced and used in arm rehabilitation with either sitting or standing subjects.
{"title":"Freebal: dedicated gravity compensation for the upper extremities","authors":"Amo H. A. Stienen, E. Hekman, F. C. T. Helm, G. Prange, M. Jannink, A. Aalsma, H. Kooij","doi":"10.1109/ICORR.2007.4428517","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428517","url":null,"abstract":"In most upper-extremity rehabilitation robotics, several components affect the therapy outcome. A common component is gravity compensation which alleviates upper-extremity movements. Gravity compensation by itself could improve motor control further or faster, separate from other effects of robotic therapy. To investigate the rehabilitation value of gravity compensation separately, we created the dedicated gravity compensation system, Freebal. The sling systems with ideal spring mechanisms in the Freebal are well suited for providing compensation forces. The device has steplessly scalable forces, a large range of motion with constant compensation forces, independent control of the compensation of the lower and upper arm, and low movement impedance. It also does not need external power, force sensors or active controllers. Finally, the Freebal can be easily moved, serviced and used in arm rehabilitation with either sitting or standing subjects.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129363705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428553
J. Patton, D. Brown, E. Lewis, G. Crombie, J. Santos, A. Makhlin, J. Colgate, M. Peshkin
The KineAssist is a robotic device that allows the therapist to safely interact with and challenge a patient as they train in whole body dynamic-balance tasks such as sit to stand or gait. The design and development of the KineAssist proceeded rapidly as a startup product of a small company. Here we briefly restate the KineAssist's motivation, design, and use, and then present an initial evaluation of the alpha-prototype's performance on healthy and stroke survivors. The studies showed that sacral marker trajectories were slower but otherwise not significantly changed in amplitude when using the device. The KineAssist therefore yields a safe environment for training functional mobility tasks, and these results identify a promising method of safely challenging patients to exert more effort while maintaining natural kinematic ranges of motion.
{"title":"Motility Evaluation of a Novel Overground Functional Mobility Tool for Post Stroke Rehabilitation","authors":"J. Patton, D. Brown, E. Lewis, G. Crombie, J. Santos, A. Makhlin, J. Colgate, M. Peshkin","doi":"10.1109/ICORR.2007.4428553","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428553","url":null,"abstract":"The KineAssist is a robotic device that allows the therapist to safely interact with and challenge a patient as they train in whole body dynamic-balance tasks such as sit to stand or gait. The design and development of the KineAssist proceeded rapidly as a startup product of a small company. Here we briefly restate the KineAssist's motivation, design, and use, and then present an initial evaluation of the alpha-prototype's performance on healthy and stroke survivors. The studies showed that sacral marker trajectories were slower but otherwise not significantly changed in amplitude when using the device. The KineAssist therefore yields a safe environment for training functional mobility tasks, and these results identify a promising method of safely challenging patients to exert more effort while maintaining natural kinematic ranges of motion.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130050638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428411
J. Furusho, T. Kikuchi, M. Tokuda, T. Kakehashi, K. Ikeda, S. Morimoto, Y. Hashimoto, H. Tomiyama, A. Nakagawa, Y. Akazawa
A brake in which the magnetorheologic fluid (MRF) is used has a simple structure and good responsibility. Therefore, MR brake is expected to perform a good adaptability for human-coexistence system. Being applied in an ankle-foot orthosis, however, conventional MR brake is too large to fit. Then, in this study we developed a shear-type MR brake with multi layer disks and minute gaps (50 micrometers) to realize compactness and high performance. This paper describes the development of a shear type compact MR brake and a new controllable ankle-foot orthosis with this brake. Furthermore, we design algorithm to control an ankle. We assist gait of a patient by changing a brake force.
{"title":"Development of Shear Type Compact MR Brake for the Intelligent Ankle-Foot Orthosis and Its Control; Research and Development in NEDO for Practical Application of Human Support Robot","authors":"J. Furusho, T. Kikuchi, M. Tokuda, T. Kakehashi, K. Ikeda, S. Morimoto, Y. Hashimoto, H. Tomiyama, A. Nakagawa, Y. Akazawa","doi":"10.1109/ICORR.2007.4428411","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428411","url":null,"abstract":"A brake in which the magnetorheologic fluid (MRF) is used has a simple structure and good responsibility. Therefore, MR brake is expected to perform a good adaptability for human-coexistence system. Being applied in an ankle-foot orthosis, however, conventional MR brake is too large to fit. Then, in this study we developed a shear-type MR brake with multi layer disks and minute gaps (50 micrometers) to realize compactness and high performance. This paper describes the development of a shear type compact MR brake and a new controllable ankle-foot orthosis with this brake. Furthermore, we design algorithm to control an ankle. We assist gait of a patient by changing a brake force.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125678725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428554
H. Kooij, E. V. Asseldonk, Marcus Johannes Nederhand
A prosthetic leg can influence balance in various ways, but not all changes in postural performance can easily be identified with the naked clinical eye. Various studies have shown that dynamic posturography is able to detect more subtle changes in balance control. Here, we describe a modification of a new posturography technique we previously developed, which combines dynamic platform perturbations with (non) parametric system identification techniques to detect asymmetries in balance control of four subjects with an above knee prosthesis. The method also estimates the mechanical impedance of the prosthetic ankle joint. The time needed for the experiment and data analysis is less than 3 minutes. Results were compared to those of six healthy controls. Our pilot data show clear asymmetries in dynamic balance control. We also found asymmetries in weight bearing and centre of pressure movements, but the asymmetries in dynamic balance contribution were larger. Finally, asymmetries in weight bearing and dynamic balance in patients were not tightly coupled as in healthy controls. The relative contribution to dynamic balance control of the prosthetic leg was positively related with the stiffness of the prosthetic ankle joint. More transfemoral amputees have to be tested to more extensively evaluate the results of this pilot study.
{"title":"Detecting asymmetries in balance control with system identification: first experimental results from above knee amputees","authors":"H. Kooij, E. V. Asseldonk, Marcus Johannes Nederhand","doi":"10.1109/ICORR.2007.4428554","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428554","url":null,"abstract":"A prosthetic leg can influence balance in various ways, but not all changes in postural performance can easily be identified with the naked clinical eye. Various studies have shown that dynamic posturography is able to detect more subtle changes in balance control. Here, we describe a modification of a new posturography technique we previously developed, which combines dynamic platform perturbations with (non) parametric system identification techniques to detect asymmetries in balance control of four subjects with an above knee prosthesis. The method also estimates the mechanical impedance of the prosthetic ankle joint. The time needed for the experiment and data analysis is less than 3 minutes. Results were compared to those of six healthy controls. Our pilot data show clear asymmetries in dynamic balance control. We also found asymmetries in weight bearing and centre of pressure movements, but the asymmetries in dynamic balance contribution were larger. Finally, asymmetries in weight bearing and dynamic balance in patients were not tightly coupled as in healthy controls. The relative contribution to dynamic balance control of the prosthetic leg was positively related with the stiffness of the prosthetic ankle joint. More transfemoral amputees have to be tested to more extensively evaluate the results of this pilot study.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121530997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428489
D. Valbuena, M. Cyriacks, O. Friman, I. Volosyak, A. Graser
In this work, a brain-computer interface (BCI) based on steady-state visual evoked potentials (SSVEP) is presented as an input device for the human machine interface (HMI) of the semi-autonomous robot FRIEND II. The role of the BCI is to translate high-level requests from the user into control commands for the FRIEND II system. In the current application, the BCI is used to navigate a menu system and to select commands such as pouring a beverage into a glass. The low-level control of the test platform, the rehabilitation robot FRIEND II, is executed by the control architecture MASSiVE, which in turn is served by a planning instance, an environment model and a set of sensors (e.g., machine vision) and actors. The BCI is introduced as a step towards the goal of providing disabled users with at least 1.5 hours independence from care givers.
{"title":"Brain-Computer Interface for high-level control of rehabilitation robotic systems","authors":"D. Valbuena, M. Cyriacks, O. Friman, I. Volosyak, A. Graser","doi":"10.1109/ICORR.2007.4428489","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428489","url":null,"abstract":"In this work, a brain-computer interface (BCI) based on steady-state visual evoked potentials (SSVEP) is presented as an input device for the human machine interface (HMI) of the semi-autonomous robot FRIEND II. The role of the BCI is to translate high-level requests from the user into control commands for the FRIEND II system. In the current application, the BCI is used to navigate a menu system and to select commands such as pouring a beverage into a glass. The low-level control of the test platform, the rehabilitation robot FRIEND II, is executed by the control architecture MASSiVE, which in turn is served by a planning instance, an environment model and a set of sensors (e.g., machine vision) and actors. The BCI is introduced as a step towards the goal of providing disabled users with at least 1.5 hours independence from care givers.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127996081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428479
A. Kargov, C. Pylatiuk, R. Oberle, H. Klosek, T. Werner, W. Rössler, S. Schulz
An innovative artificial hand is presented, which can help to restore both motor and sensory capabilities of upper extremity amputees. All requisite components of the revolutionary prosthesis fit into the small volume of the metacarpus. A new high-power actuating technology has been developed for maximizing the benefit in using the prosthetic hand by increasing the number of grasping patterns. An optional sensory feedback system has been designed for the prosthesis, which is based on mechanical vibration. First clinical trials with the prosthetic hand revealed a high acceptance, as the force necessary to hold an object securely was reduced significantly.
{"title":"Development of a Multifunctional Cosmetic Prosthetic Hand","authors":"A. Kargov, C. Pylatiuk, R. Oberle, H. Klosek, T. Werner, W. Rössler, S. Schulz","doi":"10.1109/ICORR.2007.4428479","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428479","url":null,"abstract":"An innovative artificial hand is presented, which can help to restore both motor and sensory capabilities of upper extremity amputees. All requisite components of the revolutionary prosthesis fit into the small volume of the metacarpus. A new high-power actuating technology has been developed for maximizing the benefit in using the prosthetic hand by increasing the number of grasping patterns. An optional sensory feedback system has been designed for the prosthesis, which is based on mechanical vibration. First clinical trials with the prosthetic hand revealed a high acceptance, as the force necessary to hold an object securely was reduced significantly.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128422797","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428446
Z. Bien, Pyung-Hun Chang, Y. Yoon, Kwang-Hyun Park, S. Park, Sukhoon Park, Jun-Hyeong Do, Hyong-Euk Lee
Three types of assistive human-mechatronic systems are considered: (1) a smart house system for the elderly/the disabled, (2) a factory environment for the elderly/the disabled, and (3) a hospital surgery room for medical doctors. We report how each of these systems have been implemented with human-friendly robotic agents and what have been modified with feedback evaluation of the potential users during the course of our last 9 year projects at HWRS-ERC. Special attention will be given to the aspect of "human-friendly human-machine interaction" and to the task-oriented design (TOD) principle. With regard to more difficult problems to resolve than the solutions that we have achieved by far, we shall further discuss some of the important prospects and issues of future development, including safety and long-term learning, in the area of assistive service robotic system technology for people in need such as the elderly and the disabled for their independence and pride so as to enhance quality of life and possibly endow capability to do proper productive work.
{"title":"Realization and Evaluation of Assistive Human-Mechatronic Systems with Human-friendly Robotic Agents at HWRS-ERC","authors":"Z. Bien, Pyung-Hun Chang, Y. Yoon, Kwang-Hyun Park, S. Park, Sukhoon Park, Jun-Hyeong Do, Hyong-Euk Lee","doi":"10.1109/ICORR.2007.4428446","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428446","url":null,"abstract":"Three types of assistive human-mechatronic systems are considered: (1) a smart house system for the elderly/the disabled, (2) a factory environment for the elderly/the disabled, and (3) a hospital surgery room for medical doctors. We report how each of these systems have been implemented with human-friendly robotic agents and what have been modified with feedback evaluation of the potential users during the course of our last 9 year projects at HWRS-ERC. Special attention will be given to the aspect of \"human-friendly human-machine interaction\" and to the task-oriented design (TOD) principle. With regard to more difficult problems to resolve than the solutions that we have achieved by far, we shall further discuss some of the important prospects and issues of future development, including safety and long-term learning, in the area of assistive service robotic system technology for people in need such as the elderly and the disabled for their independence and pride so as to enhance quality of life and possibly endow capability to do proper productive work.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134205548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428482
G. Pires, U. Nunes, M. Castelo‐Branco
A single trial electroencephalogram (EEG) classification system is proposed for left/right self-paced tapping discrimination. Features are extracted from theta, mu and beta rhythms and readiness potential (Bereitschaftspotential) that precede the voluntary movement. Feature extraction relies on regression fitting and wavelet decomposition. These two approaches are compared through two linear classification functions, a Fisher linear discriminant and a minimum-squared-error linear discriminant function. We show that discrete wavelet decomposition is an effective tool for both EEG frequency component separation and feature extraction, and therefore suitable for pre-movement left/right discrimination. The algorithms are applied to the data set of the "BCI Competition 2001" with a classification accuracy of 96%.
{"title":"Single-Trial EEG Classification of Movement Related Potential","authors":"G. Pires, U. Nunes, M. Castelo‐Branco","doi":"10.1109/ICORR.2007.4428482","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428482","url":null,"abstract":"A single trial electroencephalogram (EEG) classification system is proposed for left/right self-paced tapping discrimination. Features are extracted from theta, mu and beta rhythms and readiness potential (Bereitschaftspotential) that precede the voluntary movement. Feature extraction relies on regression fitting and wavelet decomposition. These two approaches are compared through two linear classification functions, a Fisher linear discriminant and a minimum-squared-error linear discriminant function. We show that discrete wavelet decomposition is an effective tool for both EEG frequency component separation and feature extraction, and therefore suitable for pre-movement left/right discrimination. The algorithms are applied to the data set <selfpaced2s> of the \"BCI Competition 2001\" with a classification accuracy of 96%.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133308616","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428526
J. Veneman, E. V. van Asseldonk, R. Ekkelenkamp, F. V. D. van der Helm, H. van der Kooij
In the design of exoskeletons for gait rehabilitation, the choice of degrees of freedom (DoFs) is one of the main issues. The goal of this research is to evaluate the effect of availability of additional DoFs related to balance-keeping on the normality of walking. These additional DoFs are the horizontal translations of the pelvis and the frontal rotation of the hip. Measurements on the gait of ten healthy subjects showed that kinematics and EMG differ only slightly when these DoFs are blocked (and only the sagittal joint rotations are available), in the impedance-controlled LOPES exoskeleton. This shows that omitting the additional DoFs allows walking with close-to-normal motor control, and also that effects of waking in this robot per se overshadow the additional effects of the mentioned DoFs. All subjects however reported a more difficult and uncomfortable walking when the horizontal pelvis motions were blocked. An additional motivation for keeping the DoFs despite these results is that they allow implementation of balance training.
{"title":"Evaluation of the effect on walking of balance-related degrees of freedom in a robotic gait training device","authors":"J. Veneman, E. V. van Asseldonk, R. Ekkelenkamp, F. V. D. van der Helm, H. van der Kooij","doi":"10.1109/ICORR.2007.4428526","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428526","url":null,"abstract":"In the design of exoskeletons for gait rehabilitation, the choice of degrees of freedom (DoFs) is one of the main issues. The goal of this research is to evaluate the effect of availability of additional DoFs related to balance-keeping on the normality of walking. These additional DoFs are the horizontal translations of the pelvis and the frontal rotation of the hip. Measurements on the gait of ten healthy subjects showed that kinematics and EMG differ only slightly when these DoFs are blocked (and only the sagittal joint rotations are available), in the impedance-controlled LOPES exoskeleton. This shows that omitting the additional DoFs allows walking with close-to-normal motor control, and also that effects of waking in this robot per se overshadow the additional effects of the mentioned DoFs. All subjects however reported a more difficult and uncomfortable walking when the horizontal pelvis motions were blocked. An additional motivation for keeping the DoFs despite these results is that they allow implementation of balance training.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113938879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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