Gait Training System Research Articles

Novel intervention for neurological patients with moderate to severe gait dysfunction: A robot-assisted gait training system

Novel intervention for neurological patients with moderate to severe gait dysfunction: A robot-assisted gait training system

Development of Gait Training System Powered by Antagonistic Mono-and Bi-Articular Actuators Using Contraction Model Control Scheme

The use of Pneumatic Muscle Actuator (PMA) in medical robots for rehabilitation has changed due to the requirements for a compliant, light weight and user-friendly robotic system. In this paper, a control system for controlling the bi-articular actuators (PMA) is proposed. Based on the information obtained from the positional input data (hip and knee joint angles), a contraction model is derived using mathematical equations to determine the contraction patterns of antagonistic mono-and bi-articular actuators, and then implemented it into the control system. Anterior and posterior muscle activation levels are introduced into the model to manipulate its magnitude. There are two tests for the control system; first is with antagonistic mono-articular actuators alone; second is along with antagonistic bi-articular actuators. The contraction model control scheme was tested on a healthy subject in a robot assisted walk test, and satisfactory performance was obtained. The result showed that, the cycle time of the gait training system is improved up to 3 seconds gait cycle compared to 5 seconds gait cycle used in previous research. However, a little time shift and inertia occurred when the controller is tested at faster gait cycle time of 2 seconds and 1 second. Thus, the potential field and iterative learning control are suggested to improve the gait cycle of the system.

보폭 비대칭을 보이는 뇌졸중 후 편마비 환자를 위한 체중이동 훈련 시스템 개발

The aim of this study was to develop and verify gait training system for post-stroke hemiplegia patients with step length asymmetry. Most post-stroke hemiplegic patients show gait asymmetry and weight shifting training has been suggested as a useful method for improving the walking ability. However, verbal cue by physical therapist may be not effective. Therefore, our weight shift training system was designed to give a feedback to patients through precise plantar pressure and center of pressure (COP) measurement. This weight shifting biofeedback training system is composed of F-Scan plantar pressure measurement system and software development kit (SDK) for Windows operating system. Two post-stroke patients with step length asymmetry were enrolled in this study. After training for six weeks, the weight shift score and step length ratio of two all patients were improved and approached to them of non-disabled. This system developed in this study may improve the step length asymmetry, and therefore this system is also expected to improve a walking ability in hemiplegic patients.

813 脚運動想起時の計測データを用いた歩行訓練システムの開発

813 脚運動想起時の計測データを用いた歩行訓練システムの開発

Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

This paper introduces the body weight support gait training system known as the AIRGAIT exoskeleton and delves into the design and evaluation of its leg orthosis control algorithm. The implementation of the mono- and biarticular pneumatic muscle actuators (PMAs) as the actuation system was initiated to generate more power and precisely control the leg orthosis. This research proposes a simple paradigm for controlling the mono- and bi-articular actuator movements cocontractively by introducing a cocontraction model. Three tests were performed. The first test involved control of the orthosis with monoarticular actuators alone without a subject (WO/S); the second involved control of the orthosis with mono- and bi-articular actuators tested WO/S; and the third test involved control of the orthosis with mono- and bi-articular actuators tested with a subject (W/S). Full body weight support (BWS) was implemented in this study during the test W/S as the load supported by the orthosis was at its maximum capacity. This assessment will optimize the control system strategy so that the system operates to its full capacity. The results revealed that the proposed control strategy was able to co-contractively actuate the mono- and bi-articular actuators simultaneously and increase stiffness at both hip and knee joints.

224 ウェアラブルセンサとバイオフィードバック機構を統合した歩行訓練システムの評価(センシング技術ほか)

In human gait motion analysis, which is one useful method for efficient physical rehabilitation, ground reaction force, kinematic and kinetic parameters are measured during walking. Recently, it is thought that the patients with walking disability including trans-femoral amputees must regain moving pattern by refined rehabilitation program using ground reaction forces, joint angles and joint moments. At present, intuitive gait training systems cannot be put into practical use adequately. For obtaining these data as the directly wearable gait measurement, in addition to a novel gait motion analysis system using mobile force plate and attitude sensor, split-belt treadmill instrumented force plate with a new concept for motion instruction based on biofeedback has been developed. However, they have not been synthesized yet as motion instruction system focused on the gait training in the past. In this study, ground reaction forces, kinematic and kinetic parameters applied on the healthy subject are measured by using the developed split-belt treadmill instrumented force plate, wearable gait motion analysis system and conventional gait measurement system simultaneously for the development and verification of motion instruction system. As a result of the experiments and consideration by their intercomparison, the patterns of ground reaction force, spatial information and each evaluation index by them are obtained as similar feature quantities among each measurement condition in cases of using instrumented treadmill, wearable gait motion analysis system and conventional measurement system. Finally, the effectiveness of the developed instrumented treadmill and quantitative evaluation concerning human locomotion on the instrumented treadmill by those data is validated.

J027032 大腿義足歩行に関する逆動力学解析と直接計測の相互比較

It is thought that inverse dynamics analysis is the most comprehensive method to obtain the joint reaction forces and the joint moments during gait for refining rehabilitation program of trans-femoral amputees. However, this method is highly constrained in respect to modeling of trans-femoral prosthesis and procedure of numerical computation. Alternatively, a multi-axis force/moment sensor can be used to directly measure loads applied on the middle part of trans-femoral prosthesis In this paper, loads applied on a prosthetic knee joint and lower thigh of trans-femoral prosthesis measured directly are compared with ones calculated by inverse dynamics analysis during gait. As a result of the experiments and intercomparison, comprehensive agreement between inverse dynamics analysis and direct measurement in the behaviors is obtained. Therefore, the validity of inverse dynamics analysis and the effectiveness of the developed prosthetic gait training system to consider biomechanics and comprehensive physical phenomena for trans-femoral prosthetic gait are validated.

A cable-driven locomotor training system for restoration of gait in human SCI

A novel cable-driven robotic locomotor training system was developed to provide compliant assistance/resistance forces to the legs during treadmill training in patients with incomplete spinal cord injury (SCI). Eleven subjects with incomplete SCI were recruited to participate in two experiments to test the feasibility of the robotic gait training system. Specifically, 10 subjects participated in one experimental session to test the characteristics of the robotic gait training system and one subject participated in repeated testing sessions over 8 weeks with the robotic device to test improvements in locomotor function. Limb kinematics were recorded in one experiment to evaluate the system characteristics of the cable-driven locomotor trainer and the overground gait speed and 6min walking distance were evaluated at pre, 4 and 8 weeks post treadmill training of a single subject as well. The results indicated that the cable driven robotic gait training system improved the kinematic performance of the leg during treadmill walking and had no significant impact on the variability of lower leg trajectory, suggesting a high backdrivability of the cable system. In addition, results from a patient with incomplete SCI indicated that prolonged robotic gait training using the cable robot improved overground gait speed. Results from this study suggested that a cable driven robotic gait training system is effective in improving leg kinematic performance, yet allows variability of gait kinematics. Thus, it seems feasible to improve the locomotor function in human SCI using this cable driven robotic system, warranting testing with a larger group of patients.

ZeroG: Overground gait and balance training system

A new overground body-weight support system called ZeroG has been developed that allows patients with severe gait impairments to practice gait and balance activities in a safe, controlled manner. The unloading system is capable of providing up to 300 lb of static support and 150 lb of dynamic (or constant force) support using a custom-series elastic actuator. The unloading system is mounted to a driven trolley, which rides along an overhead rail. We evaluated the performance of ZeroG's unloading system, as well as the trolley tracking system, using benchtop and human-subject testing. Average root-mean-square and peak errors in unloading were 2.2 and 7.2 percent, respectively, over the range of forces tested while trolley tracking errors were less than 3 degrees, indicating the system was able to maintain its position above the subject. We believe training with ZeroG will allow patients to practice activities that are critical to achieving functional independence at home and in the community.

8J-08 McKibenn型アクチュエータによる健側フィードバック歩行訓練システムの開発(OS-8 福祉・リハビリテーション工学(2))

8J-08 McKibenn型アクチュエータによる健側フィードバック歩行訓練システムの開発(OS-8 福祉・リハビリテーション工学(2))

9I-02 空気圧人工筋を用いた免荷式歩行訓練システムの開発(OS-7(2) 義足と下肢装具の歩行メカニクス)

9I-02 空気圧人工筋を用いた免荷式歩行訓練システムの開発(OS-7(2) 義足と下肢装具の歩行メカニクス)

Biomechanical Consideration Based on the Unrestrained Gait Measurement in Trans-Femoral Amputee with a Prosthetic Limb

Trans-femoral amputees are needed to regain moving pattern by refined rehabilitation program using load conditions on a prosthetic limb with the artificial knee joint. On the other hand, understanding loads applied on a prosthetic limb is important for biomechanical consideration of trans-femoral amputees. However, conventional prosthetic gait training systems cannot measure long continuous walking motions under an outdoor environment. In this paper, loads applied on the intermediate part of trans-femoral prosthesis are measured by the prosthetic gait training system for the unrestrained gait measurement. As a result of the experiments, the patterns of moments about the medio-lateral axis along a gait cycle are remarkably different among the six activities. Finally, the effectiveness of the developed prosthetic gait training system is validated and the understanding of biomechanics in trans-femoral prosthesis during gait is increased. Loading data will be useful to refine the rehabilitation protocol for trans-femoral amputees with a prosthetic limb.

Development of a Six-Axis Force/Moment Sensor Attached to a Prosthetic Limb for the Unrestrained Gait Measurement

Since the number of trans-femoral amputees has increased by industrial or traffic accidents in modern society, the demand for a prosthetic limb has also increased year after year. In this case, those amputees must regain moving pattern by refined efficient gait training using load conditions on a prosthetic limb as quantitative evaluation indices. However, conventional prosthetic gait training systems cannot measure long continuous walking motions under a wide range of environmental conditions. In this paper, a novel six-axis force/moment sensor, which is attached to a prosthetic limb for the unrestrained gait measurement, is developed. As a result of applying structural optimization techniques using response surface method and desirability function to this sensor by finite element analysis, optimum design variables to make the effect of interference components much smaller are obtained. Finally, characteristics test using the production model by applying optimum design variables is performed and the effectiveness of the developed sensor is validated.

Synthesis of a Pattern Generation Mechanism for Gait Rehabilitation

Gait training is a major part of neurological rehabilitation. Robotic gait training systems provide paraplegic patients with consistent, labor-saving, and adjustable physical therapy over traditional manual trainings. However the high cost and social-technical concerns on safe operation currently limit their availability to only a few large rehabilitation institutions. This paper describes the synthesis of a linkage mechanism for gait pattern generation in a sagittal plane. The synthesis of the mechanism starts with the definition of a closed ankle trajectory obtained from normative gait data. The synthesis process we developed includes (1) construction of the desired ankle trajectory, (2) formulation of an objective function to be used for linkage optimization, (3) development of a procedure for transforming an initial guess to a starting set of design variables for optimization, and (4) development of a point-matching process needed for implementation. A set of stature-referenced parameters was successfully produced for a crank-rocker mechanism to generate the desired gait path. A simple linkage mechanism can be used as the pattern generator in a gait training system, and the presented process has been used to synthesize a linkage for a specific gait pattern.

Electromechanical-Assisted Gait Training With Physiotherapy May Improve Walking After Stroke

Graeme J. Hankey MD, FRCP Section Editor: Many patients after stroke have difficulties with walking, and improving walking is one of the main goals of rehabilitation. Electromechanical and robotic-assisted gait training devices are used in rehabilitation and might help to restore walking after stroke. This systematic review examined the effectiveness of automated electromechanical and robotic-assisted gait training devices for improving walking after stroke. We searched the Cochrane Stroke Group Trials Register (last searched September 2006), the Cochrane Central Register of Controlled Trials (CENTRAL) (The Cochrane Library, Issue 3, 2006), MEDLINE (1966 to September 2006), …

DEVELOPMENT OF GAIT TRAINING SYSTEM USING BI-ARTICULAR MUSCLE MODEL

The purpose of this study was to develop a pneumatic gait training system which was consisted by Mckibben type actuators to achieve the normal gait patterns of lower limb joint angular displacements. These actuators were arranged as human musculoskeletal system; mono- and bi-articular muscles. The system provided a proportional directional control valve which controlled antagonistic actuators, and this system had PID controller and joint angular displacement feedback circuit. In the results, the output of the knee joint movement pattern had well validation for the input signal which was recorded from natural treadmill walking in healthy subjects. This system made the orthosis reproduce like the human natural walking. In conclusion, we structured a fundamental bi-articular muscle type of the gait training system using Mckibben type actuators.

Control Simulation of Sling System with Human Dynamics about Gait Training System

Control Simulation of Sling System with Human Dynamics about Gait Training System

PR_227: A New Dynamic System for Treadmill Gait Training With Partial Body Weight Support: A Program Description

Setting: Gait laboratory. Program: A new feedback-controlled dynamic system for partial body-weight supported (PBWS) gait training. Program Description: To facilitate the rehabilitation of those participating in PBWS gait training, we developed a computer-controlled, dynamic system that can precisely regulate the amount and timing of PBWS provided to the user. The dynamic system monitors real-time data from the user’s gait. Then, using input on the amount and timing of desired support in relation to the different phases of the gait cycle, the dynamic system precisely modulates the PBWS force provided.

3C3-04 免荷歩行訓練装置の開発 : 上肢と下肢の協調運動の実現(OS リハビリテーション機器の開発)

3C3-04 免荷歩行訓練装置の開発 : 上肢と下肢の協調運動の実現(OS リハビリテーション機器の開発)

AN FES-ASSISTED GAIT TRAINING SYSTEM FOR HEMIPLEGIC STROKE PATIENTS BASED ON INERTIAL SENSORS

An inertial sensor mounted on the foot of the affected body side represents an alternative to traditional foot switches in Functional Electrical Stimulation (FES)-assisted gait rehabilitation systems. The inertial sensor consisting of 3 gyroscopes and 3 accelerometers can be utilised to detect gait phases which can be applied to synchronise the electrical stimulation with the gait. Additionally, the sensor can be applied to estimate orientation and 3 dimensional movement of the foot. Based on the estimated orientation and linear position several movement parameters can be defined. The most important are the foot clearance, which is defined as maximal distance between foot and ground, and the sagittal angle of the foot in relation to the ground at the time as the heel hits the ground. In this paper we describe a practical system for FES-assisted gait training based on inertial sensors where the electrical stimulation is triggered by the gait phase detection and the stimulation intensity is automatically tuned by feedback of movement parameters.