Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance

Anil K Raj,Adrien M Moucheboeuf,Jerryll H Noorden,Peter D Neuhaus,David V Lecoutre

doi:10.1155/2011/284352

Anil K Raj, Adrien M Moucheboeuf + Show 3 more

Open Access

https://doi.org/10.1155/2011/284352

Copy DOI

Abstract

While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC) has developed the Mina, a prototype sensorimotor robotic orthosis for mobility assistance that provides mobility capability for paraplegic and paraparetic users. This paper describes the initial concept, design goals, and methods of this wearable overground robotic mobility device, which uses compliant actuation to power the hip and knee joints. Paralyzed users can balance and walk using the device over level terrain with the assistance of forearm crutches employing a quadrupedal gait. We have initiated sensory substitution feedback mechanisms to augment user sensory perception of his or her lower extremities. Using this sensory feedback, we hypothesize that users will ambulate with a more natural, upright gait and will be able to directly control the gait parameters and respond to perturbations. This may allow bipedal (with minimal support) gait in future prototypes.

Highlights

The limited mobility assistance options for those suffering from paraplegia or paraparesis typically utilize wheeled devices, which require infrastructure, and 69.8% of spinal cord injured (SCI) paraplegics use a manual wheelchair as their primary means of locomotion, which limits range and terrain options [1]
Complete paraplegics lack feedback of the ground reaction force and center of pressure on their feet. They do not use their remaining proprioception feedback loop for balance as frequently as able-bodied persons because they spend most of their awake hours seated
Because of the lack of integrated sensory feedback in the initial prototype, we placed a video monitor in front of the evaluator during initial training, which provided a real-time side view but forced the user to choose between watching the monitor and watching his or her legs directly

Summary

Introduction

The limited mobility assistance options for those suffering from paraplegia or paraparesis typically utilize wheeled devices, which require infrastructure (ramps, roads, smooth surfaces, etc.), and 69.8% of spinal cord injured (SCI) paraplegics use a manual wheelchair as their primary means of locomotion, which limits range and terrain options [1]. Even with advances in powered wheelchairs, such as the iBot (http://www.ibotnow.com/), mobility remains limited to relatively smooth terrain, precluding access to much of the natural outdoors. Robotic lower extremity orthosis designs can offer new mobility options for those currently limited to a wheelchair, enabling such individuals to regain access to areas that require legged locomotion and to restore the health benefits associated with an upright posture. A paraplegic user of a robotic orthosis could maintain healthy bone and muscle mass and range of joint motion that could reduce rehabilitation time following stem cell therapy

Results

Discussion

Conclusion