[Development of a robotic walking simulator for gait rehabilitation].
Identifieur interne : 007139 ( Main/Merge ); précédent : 007138; suivant : 007140[Development of a robotic walking simulator for gait rehabilitation].
Auteurs : H. Schmidt [Allemagne] ; D. Sorowka ; S. Hesse ; R. BernhardtSource :
- Biomedizinische Technik. Biomedical engineering [ 0013-5585 ] ; 2003.
English descriptors
- KwdEn :
- Artificial Intelligence, Computer Simulation, Equipment Design, Equipment Failure Analysis, Feedback, Gait Disorders, Neurologic (rehabilitation), Humans, Man-Machine Systems, Musculoskeletal Manipulations (instrumentation), Musculoskeletal Manipulations (methods), Physical Therapy Modalities (instrumentation), Physical Therapy Modalities (methods), Robotics (instrumentation), Robotics (methods), Therapy, Computer-Assisted (instrumentation), Therapy, Computer-Assisted (methods), Walking.
- MESH :
- instrumentation : Musculoskeletal Manipulations, Physical Therapy Modalities, Robotics, Therapy, Computer-Assisted.
- methods : Musculoskeletal Manipulations, Physical Therapy Modalities, Robotics, Therapy, Computer-Assisted.
- rehabilitation : Gait Disorders, Neurologic.
- Artificial Intelligence, Computer Simulation, Equipment Design, Equipment Failure Analysis, Feedback, Humans, Man-Machine Systems, Walking.
Abstract
Restoration of gait is a major concern of rehabilitation after stroke or spinal cord injury. Modern concepts of motor learning favour a task-specific repetitive approach, i.e. "whoever wants to learn to walk again must walk." However, the physical demands this places on the therapist, is a limiting factor in the clinical routine setting. This article describes a robotic walking simulator for gait training that enables wheelchair-bound subjects to freely carry out repetitive practicing of an individually adapted gait pattern under simulation of the manual guidance of an experienced therapist. The technical principle applied makes use of programmable footplates with permanent foot/machine contact in combination with compliance control. The solution chosen comprises a planar parallel-serial hybrid kinematic system with three degrees of freedom that moves the feet in the sagittal plane. Gait analysis while floor walking and stair climbing, clinical practicability and safety aspects were the basis for the design. A variable compliance control enables man-machine interaction, ranging from purely position controlled movement to full compliance during swing phase above a virtual ground profile. In full compliance mode the robotic walking simulator behaves like a haptic device. The concept presented offers new prospects for individualized gait rehabilitation.
PubMed: 14606269
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Schmidt</name><affiliation wicri:level="3"><nlm:affiliation>Freie Universität Berlin, Universitätsklinikum Benjamin Franklin, Abteilung Neurologische Rehabilitation, Fraunhofer Institut für Produktionsanlagen und Konstruktionstechnik (IPK), Bereich Automatisierung und Robotik, Berlin. henning.schmidt@ieee.org</nlm:affiliation><country>Allemagne</country><placeName><settlement type="city">Berlin</settlement><region type="land" nuts="2">Berlin</region></placeName><wicri:orgArea>Freie Universität Berlin, Universitätsklinikum Benjamin Franklin, Abteilung Neurologische Rehabilitation, Fraunhofer Institut für Produktionsanlagen und Konstruktionstechnik (IPK), Bereich Automatisierung und Robotik</wicri:orgArea></affiliation></author><author><name sortKey="Sorowka, D" sort="Sorowka, D" uniqKey="Sorowka D" first="D" last="Sorowka">D. Sorowka</name></author><author><name sortKey="Hesse, S" sort="Hesse, S" uniqKey="Hesse S" first="S" last="Hesse">S. 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Schmidt</name><affiliation wicri:level="3"><nlm:affiliation>Freie Universität Berlin, Universitätsklinikum Benjamin Franklin, Abteilung Neurologische Rehabilitation, Fraunhofer Institut für Produktionsanlagen und Konstruktionstechnik (IPK), Bereich Automatisierung und Robotik, Berlin. henning.schmidt@ieee.org</nlm:affiliation><country>Allemagne</country><placeName><settlement type="city">Berlin</settlement><region type="land" nuts="2">Berlin</region></placeName><wicri:orgArea>Freie Universität Berlin, Universitätsklinikum Benjamin Franklin, Abteilung Neurologische Rehabilitation, Fraunhofer Institut für Produktionsanlagen und Konstruktionstechnik (IPK), Bereich Automatisierung und Robotik</wicri:orgArea></affiliation></author><author><name sortKey="Sorowka, D" sort="Sorowka, D" uniqKey="Sorowka D" first="D" last="Sorowka">D. Sorowka</name></author><author><name sortKey="Hesse, S" sort="Hesse, S" uniqKey="Hesse S" first="S" last="Hesse">S. Hesse</name></author><author><name sortKey="Bernhardt, R" sort="Bernhardt, R" uniqKey="Bernhardt R" first="R" last="Bernhardt">R. Bernhardt</name></author></analytic><series><title level="j">Biomedizinische Technik. Biomedical engineering</title><idno type="ISSN">0013-5585</idno><imprint><date when="2003" type="published">2003</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Artificial Intelligence</term><term>Computer Simulation</term><term>Equipment Design</term><term>Equipment Failure Analysis</term><term>Feedback</term><term>Gait Disorders, Neurologic (rehabilitation)</term><term>Humans</term><term>Man-Machine Systems</term><term>Musculoskeletal Manipulations (instrumentation)</term><term>Musculoskeletal Manipulations (methods)</term><term>Physical Therapy Modalities (instrumentation)</term><term>Physical Therapy Modalities (methods)</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Therapy, Computer-Assisted (instrumentation)</term><term>Therapy, Computer-Assisted (methods)</term><term>Walking</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Musculoskeletal Manipulations</term><term>Physical Therapy Modalities</term><term>Robotics</term><term>Therapy, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Musculoskeletal Manipulations</term><term>Physical Therapy Modalities</term><term>Robotics</term><term>Therapy, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="rehabilitation" xml:lang="en"><term>Gait Disorders, Neurologic</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Artificial Intelligence</term><term>Computer Simulation</term><term>Equipment Design</term><term>Equipment Failure Analysis</term><term>Feedback</term><term>Humans</term><term>Man-Machine Systems</term><term>Walking</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Restoration of gait is a major concern of rehabilitation after stroke or spinal cord injury. Modern concepts of motor learning favour a task-specific repetitive approach, i.e. "whoever wants to learn to walk again must walk." However, the physical demands this places on the therapist, is a limiting factor in the clinical routine setting. This article describes a robotic walking simulator for gait training that enables wheelchair-bound subjects to freely carry out repetitive practicing of an individually adapted gait pattern under simulation of the manual guidance of an experienced therapist. The technical principle applied makes use of programmable footplates with permanent foot/machine contact in combination with compliance control. The solution chosen comprises a planar parallel-serial hybrid kinematic system with three degrees of freedom that moves the feet in the sagittal plane. Gait analysis while floor walking and stair climbing, clinical practicability and safety aspects were the basis for the design. A variable compliance control enables man-machine interaction, ranging from purely position controlled movement to full compliance during swing phase above a virtual ground profile. In full compliance mode the robotic walking simulator behaves like a haptic device. The concept presented offers new prospects for individualized gait rehabilitation.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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