HapticV1, PubMed, Checkpoint, bibRecord, 001881

[Development of a robotic walking simulator for gait rehabilitation].

Identifieur interne : 001881 ( PubMed/Checkpoint ); précédent : 001880; suivant : 001882

[Development of a robotic walking simulator for gait rehabilitation].

Auteurs : H. Schmidt [Allemagne] ; D. Sorowka ; S. Hesse ; R. Bernhardt

Source :

Biomedizinische Technik. Biomedical engineering [ 0013-5585 ] ; 2003.

RBID : pubmed:14606269

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

Affiliations:

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pubmed:14606269

Le document en format XML

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<author><name sortKey="Schmidt, H" sort="Schmidt, H" uniqKey="Schmidt H" first="H" last="Schmidt">H. 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>
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<wicri:orgArea>Freie Universität Berlin, Universitätsklinikum Benjamin Franklin, Abteilung Neurologische Rehabilitation, Fraunhofer Institut für Produktionsanlagen und Konstruktionstechnik (IPK), Bereich Automatisierung und Robotik</wicri:orgArea>
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<author><name sortKey="Sorowka, D" sort="Sorowka, D" uniqKey="Sorowka D" first="D" last="Sorowka">D. Sorowka</name>
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<author><name sortKey="Hesse, S" sort="Hesse, S" uniqKey="Hesse S" first="S" last="Hesse">S. Hesse</name>
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<author><name sortKey="Bernhardt, R" sort="Bernhardt, R" uniqKey="Bernhardt R" first="R" last="Bernhardt">R. Bernhardt</name>
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<sourceDesc><biblStruct><analytic><title xml:lang="en">[Development of a robotic walking simulator for gait rehabilitation].</title>
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<term>Gait Disorders, Neurologic (rehabilitation)</term>
<term>Humans</term>
<term>Man-Machine Systems</term>
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<term>Musculoskeletal Manipulations (methods)</term>
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<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>
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<Title>Biomedizinische Technik. Biomedical engineering</Title>
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<ArticleTitle>[Development of a robotic walking simulator for gait rehabilitation].</ArticleTitle>
<Pagination><MedlinePgn>281-6</MedlinePgn>
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<Abstract><AbstractText>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.</AbstractText>
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[Development of a robotic walking simulator for gait rehabilitation].

[Development of a robotic walking simulator for gait rehabilitation].

Source :

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki