Design of an exoskeleton ankle robot for robot-assisted gait training of stroke patients
| Autor: | Oi-Yan Soo, Kai-Yu Tong, Hon-Wah Wai, Ling-Fung Yeung, Sheung-Wai Li, Corinna Ockenfeld, Man-Kit Pang |
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| Rok vydání: | 2017 |
| Předmět: |
Male
030506 rehabilitation 0209 industrial biotechnology Engineering medicine.medical_specialty Power walking 02 engineering and technology 03 medical and health sciences 020901 industrial engineering & automation Physical medicine and rehabilitation Gait (human) Gait training medicine Torque Humans Exoskeleton Device Gait Simulation Aged business.industry Stroke Rehabilitation Signal Processing Computer-Assisted Equipment Design Middle Aged Exoskeleton medicine.anatomical_structure Robot Female Ankle 0305 other medical science business human activities Algorithms |
| Zdroj: | ICORR ResearcherID |
| ISSN: | 1945-7901 |
| Popis: | Lower Limb Exoskeleton robot that can facilitate stair walking is a big challenge, most systems could only provide level ground walking. In this study, a lightweight (0.5kg at ankle, 0.5kg at waist for control box) and autonomous exoskeleton Ankle Robot was proposed to provide power assistance for gait training of chronic stroke patients and it can facilitate three walking conditions in real-time: (1) level walking, (2) stair ascending, and (3) stair descending. Chronic stroke patients (n=3) with drop foot gait deficit and moderate motor impairment were recruited to evaluate the system under different walking conditions (Functional Ambulatory Category: FAC=4.7±0.5 and Fugl-Meyer Assessment for lower-extremity: FMA-LE=13.7±2.9). The system consisted of a specially designed carbon fiber AFO, servomotor, gear transmission system, IMU and force sensors, and control box. The IMU sensors embedded in the shank measured acceleration and angular velocity to identify distinct features in leg tilting angle and leg angular velocity between the three walking conditions. The results showed the powered ankle dorsiflexion assistance could reduce dropped foot of the stroke patients in swing phase and provide better gait pattern. A demo of the ankle robot will be conducted in the conference. |
| Databáze: | OpenAIRE |
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