Design of Human – Machine Interface and Altering of Pelvic Obliquity with RGR Trainer
Identifieur interne : 001B90 ( Pmc/Checkpoint ); précédent : 001B89; suivant : 001B91Design of Human – Machine Interface and Altering of Pelvic Obliquity with RGR Trainer
Auteurs : Maciej Pietrusinski ; Ozer Unluhisarcikli ; Constantinos Mavroidis ; Iahn Cajigas ; Paolo BonatoSource :
- Ieee [ 1945-7898 ] ; 2011.
Abstract
The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine Interface (HMI) and we demonstrate the system’s ability to alter the pattern of movement of the pelvis during gait in a healthy subject. Results are shown for experiments during which we induced hip-hiking – in healthy subjects. Our findings indicate that the RGR Trainer has the ability of affecting pelvic obliquity during gait. Furthermore, we provide preliminary evidence of short-term retention of the modified pelvic obliquity pattern induced by the RGR Trainer.
Url:
DOI: 10.1109/ICORR.2011.5975496
PubMed: 22275693
PubMed Central: 3306220
Affiliations:
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<front><div type="abstract" xml:lang="en"><p id="P1">The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine Interface (HMI) and we demonstrate the system’s ability to alter the pattern of movement of the pelvis during gait in a healthy subject. Results are shown for experiments during which we induced hip-hiking – in healthy subjects. Our findings indicate that the RGR Trainer has the ability of affecting pelvic obliquity during gait. Furthermore, we provide preliminary evidence of short-term retention of the modified pelvic obliquity pattern induced by the RGR Trainer.</p>
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<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101260913</journal-id>
<journal-id journal-id-type="pubmed-jr-id">37025</journal-id>
<journal-id journal-id-type="nlm-ta">IEEE Int Conf Rehabil Robot</journal-id>
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<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
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<title-group><article-title>Design of Human – Machine Interface and Altering of Pelvic Obliquity with RGR Trainer</article-title>
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<contrib-group><contrib contrib-type="author"><name><surname>Pietrusinski</surname>
<given-names>Maciej</given-names>
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<aff id="A1">Mechanical and Industrial Engineering, Northeastern University, 360 Huntington Avenue, Boston, MA, 02115, USA</aff>
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<contrib contrib-type="author"><name><surname>Unluhisarcikli</surname>
<given-names>Ozer</given-names>
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<aff id="A2">Mechanical and Industrial Engineering, Northeastern University, 360 Huntington Avenue, Boston, MA, 02115, USA</aff>
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<contrib contrib-type="author"><name><surname>Mavroidis</surname>
<given-names>Constantinos</given-names>
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<xref rid="FN1" ref-type="author-notes">*</xref>
<aff id="A3">Mechanical and Industrial Engineering, Northeastern University, 360 Huntington Avenue, Boston, MA, 02115, USA</aff>
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<contrib contrib-type="author"><name><surname>Cajigas</surname>
<given-names>Iahn</given-names>
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<aff id="A4">Motion Analysis Laboratory, Spaulding Rehabilitation Hospital, Boston, MA, USA</aff>
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<contrib contrib-type="author"><name><surname>Bonato</surname>
<given-names>Paolo</given-names>
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<xref rid="FN2" ref-type="author-notes">*</xref>
<aff id="A5">Motion Analysis Laboratory, Spaulding Rehabilitation Hospital, Boston, MA, USA</aff>
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<author-notes><corresp id="FN1"><label>*</label>
Corresponding Author - <email>mavro@coe.neu.edu</email>
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<corresp id="FN2"><label>*</label>
Corresponding Author - <email>pbonato@partners.org</email>
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<pub-date pub-type="nihms-submitted"><day>9</day>
<month>3</month>
<year>2012</year>
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<pub-date pub-type="ppub"><month>6</month>
<year>2011</year>
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<pub-date pub-type="pmc-release"><day>16</day>
<month>3</month>
<year>2012</year>
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<volume>2011</volume>
<fpage>1</fpage>
<lpage>6</lpage>
<permissions><copyright-statement>©2011 IEEE</copyright-statement>
<copyright-year>2011</copyright-year>
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<abstract><p id="P1">The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine Interface (HMI) and we demonstrate the system’s ability to alter the pattern of movement of the pelvis during gait in a healthy subject. Results are shown for experiments during which we induced hip-hiking – in healthy subjects. Our findings indicate that the RGR Trainer has the ability of affecting pelvic obliquity during gait. Furthermore, we provide preliminary evidence of short-term retention of the modified pelvic obliquity pattern induced by the RGR Trainer.</p>
</abstract>
<kwd-group><kwd>robotic rehabilitation</kwd>
<kwd>stroke</kwd>
<kwd>exoskeletons</kwd>
<kwd>impedance control</kwd>
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<name sortKey="Pietrusinski, Maciej" sort="Pietrusinski, Maciej" uniqKey="Pietrusinski M" first="Maciej" last="Pietrusinski">Maciej Pietrusinski</name>
<name sortKey="Unluhisarcikli, Ozer" sort="Unluhisarcikli, Ozer" uniqKey="Unluhisarcikli O" first="Ozer" last="Unluhisarcikli">Ozer Unluhisarcikli</name>
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