Abstract
Moving platforms were introduced in the field of the study of posturography since the 1970s. Commercial platforms have some limits: a limited number of degrees of freedom, pre-configured protocols, and, usually, they are expensive. In order to overcome these limits, we developed a robotic platform: Dynamic Oriented Rehabilitative Integrated System (DORIS). We aimed at realizing a versatile solution that can be applied both for research purposes but also for personalizing the training of equilibrium and gait. We reached these goals by means of a Stewart platform that was realized with linear actuators and a supporting plate. Each actuator is provided by an ad hoc built monoaxial load cell. Position control allows a large range of movements and load cells measure the reactive force applied by the subject. Transmission Control Protocol/Internet Protocol (TCP/IP) guarantees the communication between the platform and other systems. We integrated DORIS with a motion analysis system, an electromyography (EMG) system, and a virtual reality environment (VR). This integration and the custom design of the platform offer the opportunity to manipulate the available information of the subject under analysis, which uses visual, vestibular, and plantar feet pressure inputs. The full access to the human movements and to the dynamic interaction is a further benefit for the identification of innovative solutions for research and physical rehabilitation purposes in a field that is widely investigated but still open.
Highlights
Nowadays, it is well established that, in the rehabilitative field, it is necessary to be up to date with the scientific research breakthroughs and to take into consideration motor control knowledge
The main aim of this paper is to introduce Dynamic Oriented Rehabilitative Integrated System (DORIS) to the scientific community providing an exhaustive description of the mechanics, the controls and the integration with other systems in order to guarantee smarter and more efficient physical rehabilitation services
The motion accuracy of the DORIS platform in replicating a chosen pose was performed comparing the data obtained from the DORIS leg extensions li with the data collected by the motion capture system installed in the MARlab
Summary
It is well established that, in the rehabilitative field, it is necessary to be up to date with the scientific research breakthroughs and to take into consideration motor control knowledge. The study of the movement is useful to characterize the strategies of motor control during actions like reaching, standing, or walking in normal or pathological conditions, and their modifications following cycles of therapy [1]. In this context, further knowledge and tools are needed to dose and to verify the efficacy of the therapeutic exercise. The presence of force sensors allows an interactive control of the instrument measuring the forces exchanged with the subject This means it’s possible to study the characteristics of the human–machine interaction, a very current and widely studied topic that is gaining more and more attention in the field of robotic rehabilitation.
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