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The next generation of tools for rehabilitation robotics requires advanced human-robot interfaces able to activate the device as soon as patient's motion intention is raised. This paper investigated the suitability of Support Vector Machine (SVM) classifiers for identification of locomotion intentions from surface electromyography (sEMG) data. A phase-dependent approach, based on foot contact and...
This paper presents the design of an admittance-based assistive controller and preliminary experimental results for a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design a suitable control algorithm for diagnosis, training and rehabilitation of the ankle in presence of musculoskeletal injuries. An admittance control technique is used to perform patient-active...
Restoring walking functions will greatly improve the foot-drop patients' life quality. In this work, we sampled 10 healthy subjects' gait data when walking in 4 different stride frequency overground and developed a dynamic Functional Electrical Stimulation (dFES) system for foot-drop patients' walk training, using the processed tibialis anterior (TA) muscle EMG signal. The data sampled under the new...
Driven Gait Orthosis (DGO) are commonly used in gait rehabilitation. These devices commonly lack an actuator at the ankle. As a result the ankle trajectories often differ considerably from those seen normally. The question arises whether these abnormal trajectories affect the phase-dependent modulation of cutaneous reflexes from the foot. To investigate this, the sural nerve was stimulated electrically...
In this work we have examined the effect of functional electrical stimulation (FES) in the management of drop foot in stroke subjects with surface electromyographic (sEMG) analysis from the tibialis anterior (TA) muscle. Ten subjects were assigned to FES therapy combined with conventional stroke rehabilitation program 5 days a week, 60 min a day, for 12-weeks in clinical settings. Baseline and post-treatment...
In this paper, an expert system (ES) for supporting the conceptual design of a closed loop control scheme for the rehabilitation of lower limb disabilities is presented. The design of the controllers is based on the exploitation of experts knowledge concerning the gait cycle and uses pathological muscles electromyographical (EMG) data for feedback signals. EMGs from normal muscles are also used to...
For central nervous system (CNS) impaired patients, e.g. after stroke, the achievement of an independent, stable gait function and endurance in walking is essential for independent mobility in daily life. Modern concepts of rehabilitation favor a task specific repetitive training, that facilitates natural motion and muscle activation patterns, i.e. in addition to commonly practiced floor walking other...
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