Abstract
This paper demonstrates the development of an automatic mobile trainer employing inertial movement units (IMUs). The device is inspired by Neuro-Developmental Treatment (NDT), which is an effective rehabilitation method for stroke patients that promotes the relearning of motor skills by repeated training. However, traditional NDT training is very labor intensive and time consuming for therapists, thus, stroke patients usually cannot receive sufficient rehabilitation training. Therefore, we developed a mobile assisted device that can automatically repeat the therapists’ intervention and help increase patient training time. The proposed mobile trainer, which allows the users to move at their preferred speeds, consists of three systems: the gait detection system, the motor control system, and the movable mechanism. The gait detection system applies IMUs to detect the user’s gait events and triggers the motor control system accordingly. The motor control system receives the triggering signals and imitates the therapist’s intervention patterns by robust control. The movable mechanism integrates these first two systems to form a mobile gait-training device. Finally, we conducted preliminary tests and defined two performance indexes to evaluate the effectiveness of the proposed trainer. Based on the results, the mobile trainer is deemed successful at improving the testing subjects’ walking ability.
Highlights
Stroke is the second leading cause of death in the world [1], with a case occurring about every two seconds [2]
The proposed mobile trainer consists of three systems: the gait detection system, the motor control system, and the movable mechanism
The paper is arranged as follows: Section 2 introduces the mobile trainer, which is composed of a gait detection system, a motor control system, and a movable mechanism
Summary
Stroke is the second leading cause of death in the world [1], with a case occurring about every two seconds [2]. Yu et al [12] proposed a compact compliant-force control actuator for portable rehabilitation robots Unlike these aforementioned devices, which usually guide the users to follow certain preset movements, Neuro-Developmental Treatment (NDT) is a way to let patients have the feeling of walking with minimal physical intervention [13]. The proposed mobile trainer consists of three systems: the gait detection system, the motor control system, and the movable mechanism. We conduct traditional NDT training and record the experimental data to build an expert system that describes the therapists’ intervention patterns: stimulating the right (left) pelvis when the left (right) foot strikes the ground. The paper is arranged as follows: Section 2 introduces the mobile trainer, which is composed of a gait detection system, a motor control system, and a movable mechanism.
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