A methodology for the Lower Limb Robotic Rehabilitation system

The overall goal of this thesis is to develop a new functional lower limb robot-assisted rehabilitation system for people with a paretic lower limb. A unilateral rehabilitation method is investigated, where the robot acts as an assistive device to provide the impaired leg therapeutic training through simulating the kinematics and dynamics of the ankle and lower leg movements. Foot trajectories of healthy subjects and post-stroke patients were recorded by a dedicated optical motion tracking system in a clinical gait measurement laboratory. A prototype 6 degrees of freedom parallel robot was initially built in order to verify capability of achieving singularity-free foot trajectories of healthy subjects in various exercises. This was then followed by building and testing another larger parallel robot to investigate the real-sized foot trajectories of patients. The overall results verify the designed robot’s capability in successfully tracking foot trajectories during different exercises. The thesis finally proposes a system of bilateral rehabilitation based on the concept of self-learning, where a passive parallel mechanism follows and records motion signatures of the patient’s healthy leg, and an active parallel mechanism provides motion for the impaired leg based on the kinematic mapping of the motion produced by the passive mechanism

Suited for spacewalking: A teacher's guide with activities

This publication is an activity guide for teachers on spacesuits and spacewalking. It uses the intensive interest many children have in space exploration as a launching point for hands-on-opportunities. The guide begins with brief discussions of the space environment, the history of space walking, the Space Shuttle spacesuit, and working in space. These are followed by a series of activities that enable children to explore the space environment as well as the science and technology behind the functions of spacesuits. The activities are not rated for specific grade levels because they can be adapted for students of many ages. The guide concludes with a brief glossary as well as references and resources

System Identification of Bipedal Locomotion in Robots and Humans

The ability to perform a healthy walking gait can be altered in numerous cases due to gait disorder related pathologies. The latter could lead to partial or complete mobility loss, which affects the patients’ quality of life. Wearable exoskeletons and active prosthetics have been considered as a key component to remedy this mobility loss. The control of such devices knows numerous challenges that are yet to be addressed. As opposed to fixed trajectories control, real-time adaptive reference generation control is likely to provide the wearer with more intent control over the powered device. We propose a novel gait pattern generator for the control of such devices, taking advantage of the inter-joint coordination in the human gait. Our proposed method puts the user in the control loop as it maps the motion of healthy limbs to that of the affected one. To design such control strategy, it is critical to understand the dynamics behind bipedal walking. We begin by studying the simple compass gait walker. We examine the well-known Virtual Constraints method of controlling bipedal robots in the image of the compass gait. In addition, we provide both the mechanical and control design of an affordable research platform for bipedal dynamic walking. We then extend the concept of virtual constraints to human locomotion, where we investigate the accuracy of predicting lower limb joints angular position and velocity from the motion of the other limbs. Data from nine healthy subjects performing specific locomotion tasks were collected and are made available online. A successful prediction of the hip, knee, and ankle joints was achieved in different scenarios. It was also found that the motion of the cane alone has sufficient information to help predict good trajectories for the lower limb in stairs ascent. Better estimates were obtained using additional information from arm joints. We also explored the prediction of knee and ankle trajectories from the motion of the hip joints

Technology applications

A summary of NASA Technology Utilization programs for the period of 1 December 1971 through 31 May 1972 is presented. An abbreviated description of the overall Technology Utilization Applications Program is provided as a background for the specific applications examples. Subjects discussed are in the broad headings of: (1) cancer, (2) cardiovascular disease, (2) medical instrumentation, (4) urinary system disorders, (5) rehabilitation medicine, (6) air and water pollution, (7) housing and urban construction, (8) fire safety, (9) law enforcement and criminalistics, (10) transportation, and (11) mine safety

Joint Trajectory Generation and High-level Control for Patient-tailored Robotic Gait Rehabilitation

This dissertation presents a group of novel methods for robot-based gait rehabilitation which were developed aiming to offer more individualized therapies based on the specific condition of each patient, as well as to improve the overall rehabilitation experience for both patient and therapist. A novel methodology for gait pattern generation is proposed, which offers estimated hip and knee joint trajectories corresponding to healthy walking, and allows the therapist to graphically adapt the reference trajectories in order to fit better the patient's needs and disabilities. Additionally, the motion controllers for the hip and knee joints, mobile platform, and pelvic mechanism of an over-ground gait rehabilitation robotic system are also presented, as well as some proposed methods for assist as needed therapy. Two robot-patient synchronization approaches are also included in this work, together with a novel algorithm for online hip trajectory adaptation developed to reduce obstructive forces applied to the patient during therapy with compliant robotic systems. Finally, a prototype graphical user interface for the therapist is also presented

Physical Therapy Interventions for Falls in the Elderly

The elderly in America represent a population that is continually growing. As part of the aging process, various changes occur that contribute to falls. Therefore, as the number of elderly people in America increases, the possibility of falls in the elderly also increases. The consequences of falls in the elderly are significant. Some of the more serious consequences include functional decline, increased medical cost, and death. Therefore, the scope of the problem is clear; strategies to prevent falls and treat those who have fallen are indicated. The purpose of this independent study is to review the literature pertaining to falls in the elderly and to describe the physical therapy interventions for this problem. The definition of falls and the major causes of falls are presented. Components of a physical therapy evaluation for falls in the elderly, common clinical and laboratory tests, and preventive and treatment strategies are also covered. Finally, the efficacy of physical therapy in the management of falls in the elderly and possibilities for future research relating to this problem are presented

Suggested approach for establishing a rehabilitation engineering information service for the state of California

An ever expanding body of rehabilitation engineering technology is developing in this country, but it rarely reaches the people for whom it is intended. The increasing concern of state and federal departments of rehabilitation for this technology lag was the stimulus for a series of problem-solving workshops held in California during 1977. As a result of the workshops, the recommendation emerged that the California Department of Rehabilitation take the lead in the development of a coordinated delivery system that would eventually serve the entire state and be a model for similar systems across the nation