Robot-assisted ankle rehabilitation for the treatment of drop foot: A case study

This paper involves the use of an intrinsically-compliant ankle rehabilitation robot for the treatment of drop foot. The robot has a bio-inspired design by employing four Festo fluidic actuators that mimic skeletal muscles to actuate three rotational degrees of freedom (DOFs). A position controller in task space was developed to track the predefined trajectory of the end effector. The position tracking was achieved by the length tracking of each actuator in joint space by inverse kinematics. A stroke patient with drop foot participated in the trial as a case study to evaluate the potential of this robot for clinical applications. The patient gave positive feedback in using the ankle robot for the treatment of drop foot, although some limitations exist. The trajectory tracking showed satisfactory accuracy throughout the whole training with varying ranges of motion, with the root mean square deviation (RMSD) value being 0.0408 rad and the normalized root mean square deviation (NRMSD) value being 8.16%. To summarize, preliminary findings support the potential of the ankle rehabilitation robot for clinical applications. Future work will investigate the effectiveness of the robot for treating drop foot on a large sample of subjects

Motion Control of Wearable Walking Support System with Accelerometer Considering Swing Phase Support

Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, Technische Universität München, Munich, Germany, August 1-3, 200

Relationship Between Static Mobility of the First Ray and First Ray, Midfoot, and Hindfoot Motion During Gait

The relationship between a static measure of dorsal first ray mobility and dynamic motion of the first ray, midfoot, and hindfoot during the stance phase of walking was investigated in healthy, asymptomatic subjects who represented the spectrum of static flexibility. Static first ray mobility of 15 subjects was measured by a load cell device and ranged from stiff (3.1 mm) to lax (8.0 mm). Using three-dimensional motion analysis, mean first ray dorsiflexion/eversion and mid-/hindfoot eversion peak motion, time-to-peak, and eversion excursion were evaluated. Subjects with greater static dorsal mobility of the first ray demonstrated significantly greater time-topeak hindfoot eversion and eversion excursion (p \u3c .01), and midfoot peak eversion and eversion excursion (p \u3c .01). No significant association was found between static first ray mobility and first ray motion during gait. This research provides evidence that the dynamic response of the foot may modulate the consequences of first ray mobility and that compensory strategies are most effective when static measures of dorsal mobility are most extreme

A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment

Stationary robotic trainers are lower limb rehab robots which often incorporate an exoskeleton attached to a stationary base. The issue observed in the stationery trainers for simultaneous knee and ankle-foot complex joints is that they restrict the natural motion of ankle-foot in the rehab trainings due to the insufficient Degrees of Freedom (DOFs) of these trainers. A new stationary knee-ankle-foot rehab robot with all necessary DOFs is developed here. A typical rehab training is first implemented in simulation, and then tested on a healthy subject. Results show that the proposed system functions naturally and meets the requirements of the desired rehab training.Comment: 23 pages, 14 figure

Biomechanics

Biomechanics is a vast discipline within the field of Biomedical Engineering. It explores the underlying mechanics of how biological and physiological systems move. It encompasses important clinical applications to address questions related to medicine using engineering mechanics principles. Biomechanics includes interdisciplinary concepts from engineers, physicians, therapists, biologists, physicists, and mathematicians. Through their collaborative efforts, biomechanics research is ever changing and expanding, explaining new mechanisms and principles for dynamic human systems. Biomechanics is used to describe how the human body moves, walks, and breathes, in addition to how it responds to injury and rehabilitation. Advanced biomechanical modeling methods, such as inverse dynamics, finite element analysis, and musculoskeletal modeling are used to simulate and investigate human situations in regard to movement and injury. Biomechanical technologies are progressing to answer contemporary medical questions. The future of biomechanics is dependent on interdisciplinary research efforts and the education of tomorrow’s scientists

Advancements in Prosthetics and Joint Mechanisms

abstract: Robotic joints can be either powered or passive. This work will discuss the creation of a passive and a powered joint system as well as the combination system being both powered and passive along with its benefits. A novel approach of analysis and control of the combination system is presented. A passive and a powered ankle joint system is developed and fit to the field of prosthetics, specifically ankle joint replacement for able bodied gait. The general 1 DOF robotic joint designs are examined and the results from testing are discussed. Achievements in this area include the able bodied gait like behavior of passive systems for slow walking speeds. For higher walking speeds the powered ankle system is capable of adding the necessary energy to propel the user forward and remain similar to able bodied gait, effectively replacing the calf muscle. While running has not fully been achieved through past powered ankle devices the full power necessary is reached in this work for running and sprinting while achieving 4x’s power amplification through the powered ankle mechanism. A theoretical approach to robotic joints is then analyzed in order to combine the advantages of both passive and powered systems. Energy methods are shown to provide a correct behavioral analysis of any robotic joint system. Manipulation of the energy curves and mechanism coupler curves allows real time joint behavioral adjustment. Such a powered joint can be adjusted to passively achieve desired behavior for different speeds and environmental needs. The effects on joint moment and stiffness from adjusting one type of mechanism is presented.Dissertation/ThesisDoctoral Dissertation Mechanical Engineering 201

Rehabilitation Engineering

Population ageing has major consequences and implications in all areas of our daily life as well as other important aspects, such as economic growth, savings, investment and consumption, labour markets, pensions, property and care from one generation to another. Additionally, health and related care, family composition and life-style, housing and migration are also affected. Given the rapid increase in the aging of the population and the further increase that is expected in the coming years, an important problem that has to be faced is the corresponding increase in chronic illness, disabilities, and loss of functional independence endemic to the elderly (WHO 2008). For this reason, novel methods of rehabilitation and care management are urgently needed. This book covers many rehabilitation support systems and robots developed for upper limbs, lower limbs as well as visually impaired condition. Other than upper limbs, the lower limb research works are also discussed like motorized foot rest for electric powered wheelchair and standing assistance device

serial and parallel robotics: energy saving systems and rehabilitation devices

This thesis focuses on the design and discussion of robotic devices and their applications. Robotics is the branch of technology that deals with the design, construction, operation, and application of robots as well as computer systems for their control, sensory feedback, and information processing [1]. Nowadays, robotics has been an unprecedented increase in applications of industry, military, health, domestic service, exploration, commerce, etc. Different applications require robots with different structures and different functions. Robotics normally includes serial and parallel structures. To have contribution to two kinds of structures, this thesis consisting of two sections is devoted to the design and development of serial and parallel robotic structures, focused on applications in the two different fields: industry and health