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Technology assisted therapy has the potential to transform rehabilitation options available, and to dramatically increase the reach of today's healthcare system. Yet challenges persist in rendering translational application designs that optimize the full potential of technology and create value for the patient and the therapist. In a step towards optimizing value of technologies for practical applications...
A lower limbs rehabilitative training robot was designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. The robot was fixed with four omni-directional wheels which can move within any radius in any direction. When the robot is running, some undetected uncertainty disturbances change its running trajectory,...
Gait pattern planning is an important issue in robotic gait rehabilitation. Gait pattern is known to be related to gait parameters, such as cadence, stride length, and walking speed. Thus, prior before the discussion of gait pattern planning, the planning of gait parameters for natural walking should be addressed. This work utilizes multi-layer perceptron neural network (MLPNN) to predict natural...
The rehabilitation of the physically challenged is one of the trial applications of the step-on interface (SOI) on a mobile platform as the friendly amusing mobile (FAM) function. This vide shows the result of the preliminary trial.
This paper proposes an obstacle-avoidance algorithm which can be applied to omnidirectional Lower Limbs Rehabilitation Robot. The method generates the attribute of obstacle scene using detected angle information of obstacle boundary, and fuzzy matching with the obstacle scene knowledgebase to realize the obstacle-avoidance control of robot. The implementation of fuzzy matching depends on fuzzy neural...
This paper describes a new design of mechanical structure and tracking control system for lower limbs rehabilitative training robot. The robot is designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. This paper improves mechanical structure and control system of former lower limbs rehabilitative...
Current clinical practice of robot-aided gait training is not as effective as expected. Cooperative control strategies aim at improving the effectiveness of robot-aided training by empowering patients to participate more actively. Our group has recently proposed the concept of bio-cooperative control, which explicitely considers the role of the human in the loop, as an extension of these strategies...
The effect of using robots to improve motor recovery has received increased attention, while the treatment effectiveness remains a topic of study. We compared the training effects by treatments on the wrist joint of chronic stroke patients with an electromyography (EMG)-driven robot (interactive group, n = 15) and a robot with continuous passive motion (passive group, n = 12) by a randomized controlled...
This paper presents a prototype development of an unrestraint support robot for gait rehabilitation of injured or elderly people. Our developed system consists of a support robot for preventing a trainee from falling with bodily unrestraint. Unrestraint means not atattching markers or sensors on the body, but using an optical sensor for detecting a position of the trainee and a camera for obtaining...
This paper presents an approach to enhance an assistive controller, which has been designed for robotic rehabilitation of the upper extremity after stroke, with an error augmentation training method. The assistive controller provides robotic assistance to the participant as and when needed, while position errors that are visually fed back to the participant are amplified to heighten the participant's...
This paper describes the design and application of an omnidirectional lower limbs rehabilitation training robot. The robot is designed to improve patient walking ability, who suffers from impairment in locomotion after neurology injuries. The robot is characterized with three key points as follows: (1) omnidirectional wheeled mechanical structure, (2) real-time biofeedback mechanism, and (3) balance...
In this paper, a methodology for gait rehabilitation, combines over-ground walking, body weight support, pelvic control, and gait assistance are introduced and the integrated platform has been developed. This paper also discusses the gap of state-of-the-art research in gait rehabilitation. Systems like Lokomat and Kineassist were studied and discussed. Initial testing and EMG experiments have been...
The rehabilitation robot Lokomat allows automated treadmill training for patients with neurological gait disorders. The basic position control approach for the robot has been extended to patient-cooperative strategies. These strategies provide more freedom and allow patients to actively influence their training. However, patients are likely to need additional support during patient-cooperative training...
The purpose of this article is to provide a review of mobility devices available for the rehabilitation of individuals with (spinal cord injury) SCI. The technologies that improve mobility and potentially enhance community participation that will be discussed include those devices that are used to improve ambulation, wheeled mobility, and functional electrical stimulation (FES) systems. This review...
The design and implementation of an omnidirectional lower limbs rehabilitative training robot are described. The robot is designed to improve patient's locomotion, who suffers from impairment in walking ability after neurology injuries. The robot is characterized with three key points as following: 1) a wheeled mechanical structure, 2) gait phase analysis system using wearable press sensors and 3)...
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