Development of visual information function in reaction force feedback type Gait Training System

2012 ◽  
Author(s):  
H. Ikeuchi ◽  
Y. Saito ◽  
K. Ohnishi
Keyword(s):  
Visual Information ◽  
Force Feedback ◽  
Reaction Force ◽  
Gait Training ◽  
Training System ◽  
Information Function ◽  
Feedback Type

scholarly journals Cross-Modal Effect of Presenting Visual and Force Feedback That Create the Illusion of Stair-Climbing

2021 ◽  
Vol 11 (7) ◽  
pp. 2987
Author(s):  
Takumi Okumura ◽  
Yuichi Kurita
Keyword(s):  
Visual Information ◽  
Force Feedback ◽  
Activity Level ◽  
Experimental Results ◽  
Stair Climbing ◽  
Mirror Therapy ◽  
Visual Condition ◽  
Stroke Patients ◽  
Head Mount Display ◽  
The Brain

Image therapy, which creates illusions with a mirror and a head mount display, assists movement relearning in stroke patients. Mirror therapy presents the movement of the unaffected limb in a mirror, creating the illusion of movement of the affected limb. As the visual information of images cannot create a fully immersive experience, we propose a cross-modal strategy that supplements the image with sensual information. By interacting with the stimuli received from multiple sensory organs, the brain complements missing senses, and the patient experiences a different sense of motion. Our system generates the sense of stair-climbing in a subject walking on a level floor. The force sensation is presented by a pneumatic gel muscle (PGM). Based on motion analysis in a human lower-limb model and the characteristics of the force exerted by the PGM, we set the appropriate air pressure of the PGM. The effectiveness of the proposed system was evaluated by surface electromyography and a questionnaire. The experimental results showed that by synchronizing the force sensation with visual information, we could match the motor and perceived sensations at the muscle-activity level, enhancing the sense of stair-climbing. The experimental results showed that the visual condition significantly improved the illusion intensity during stair-climbing.

scholarly journals Clinical Efficacy of a New Robot-assisted Gait Training System for Acute Stroke Patients

2021 ◽  
Author(s):  
Andy Chien ◽  
Fei-Chun Chang ◽  
Nai-Hsin Meng ◽  
Pei-Yu Yang ◽  
Ching Huang ◽  
...  
Keyword(s):  
Sleep Quality ◽  
Acute Stroke ◽  
Quality Index ◽  
Pittsburgh Sleep Quality Index ◽  
Gait Training ◽  
Training System ◽  
Control Group ◽  
Stroke Patients ◽  
Robot Assisted ◽  
Significant Difference

Abstract Purpose Robot-assisted gait rehabilitation has been proposed as a plausible supplementary rehabilitation strategy in stroke rehabilitation in the last decade. However, its exact benefit over traditional rehabilitation remain sparse and unclear. It is therefore the purpose of the current study to comparatively investigate the clinical benefits of the additional robot-assisted training in acute stroke patients compared to standard hospital rehabilitation alone. Methods Ninety acute stroke patients (< 3 month) were recruited. All participants received the standard hospital neurorehabilitation comprises 45–60 min sessions daily for 3 weeks. Sixty patients also received an additional 30 min of robot-assisted gait training with the HIWIN MRG-P100 gait training system after each of the standard neurorehabilitation session. Outcome measures included: 1. Berg Balance Scale (BBS); 2. Brunnstrom Stage; 3. Pittsburgh Sleep Quality Index and 4. Taiwanese Depression Questionnaire (TDQ) which were assessed pre-treatment and then after every five training sessions. Results Both groups demonstrated significant improvement pre- and post-treatment for the BBS (robotic group p = 0.023; control group p = 0.033) but no significant difference (p > 0.1) between the groups were found. However, the robotic training group had more participants demonstrating larger BBS points of improvement as well as greater Brunnstrom stage of improvement, when compared to the control group. No significant within and between group statistical differences (p > 0.3) were found for Pittsburgh Sleep Quality Index and Taiwanese Depression Questionnaire. Conclusion The addition of robotic gait training on top of standard hospital neurorehabilitation for acute stroke patients appear to produce a slightly greater improvement in clinical functional outcomes, which is not transferred to psychological status.

scholarly journals The Application of an Impedance-Passivity Controller in Haptic Stability Analysis

2021 ◽  
Vol 11 (4) ◽  
pp. 1618
Author(s):  
Ping-Nan Chen ◽  
Yung-Te Chen ◽  
Hsin Hsiu ◽  
Ruei-Jia Chen
Keyword(s):  
Control Systems ◽  
Force Feedback ◽  
Training System ◽  
Considerable Time ◽  
Virtual Training ◽  
Control Gain ◽  
Negative Damping ◽  
The Stability ◽  
Time Required ◽  
Stable Control

This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, namely the considerable time required to reach stability if the equipment consumes energy slowly. The proposed IPC can be used to achieve stability through model parameter selection and to obtain control gain. In particular, haptic performance can be improved for extreme cases of high stiffness and negative damping. Furthermore, a virtual training system for one-degree-of-freedom sticking was developed to validate the experimental platform of our IPC. To ensure consistency in the experiment, we designed a specialized mechanical robot to replace human operation. Finally, compared with basic passivity control systems, our IPC could achieve stable control rapidly.

Design of a 6-DOF Robotic Gait Training System With Closed-Chain Foot Initiated Kinematics Control

2015 ◽  
Author(s):  
Wei Liu ◽  
John Kovaleski ◽  
Marcus Hollis
Keyword(s):  
Three Dimensional ◽  
Computer Software ◽  
Gait Training ◽  
Gait Pattern ◽  
Training System ◽  
Normal Walking ◽  
Robot Assisted ◽  
Walking Gait ◽  
The Right ◽  
Joint Motions

Robotic assisted rehabilitation, taking advantage of neuroplasticity, has been shown to be helpful in regaining some degree of gait performance. Robot-applied movement along with voluntary efferent motor commands coordinated with the robot allows optimization of motion training. We present the design and characteristics of a novel foot-based 6-degree-of-freedom (DOF) robot-assisted gait training system where the limb trajectory mirrored the normal walking gait. The goal of this study was to compare robot-assisted gait to normal walking gait, where the limb moved independently without robotics. Motion analysis was used to record the three-dimensional kinematics of the right lower extremity. Walking motion data were determined and transferred to the robotic motion application software for inclusion in the robotic trials where the robot computer software was programmed to produce a gait pattern in the foot equivalent to the gait pattern recorded from the normal walking gait trial. Results demonstrated that ankle; knee and hip joint motions produced by the robot are consistent with the joint motions in walking gait. We believe that this control algorithm provides a rationale for use in future rehabilitation, targeting robot-assisted training in people with neuromuscular disabilities such as stroke.

Development of Virtual Reality-based Gait Training System Simulating Personal Home Environment

2021 ◽  
Author(s):  
Yuya Nagashima ◽  
Daigo Ito ◽  
Ryo Ogura ◽  
Takanori Tominaga ◽  
Yumie Ono
Keyword(s):  
Virtual Reality ◽  
Home Environment ◽  
Gait Training ◽  
Training System

scholarly journals Design and development of a gait training system for Parkinson’s disease

PLoS ONE ◽  
2018 ◽  
Vol 13 (11) ◽  
pp. e0207136 ◽  
Author(s):  
Ainara Garzo ◽  
Paula Alexandra Silva ◽  
Nestor Garay-Vitoria ◽  
Erik Hernandez ◽  
Stephen Cullen ◽  
...  
Keyword(s):  
Parkinson’S Disease ◽  
Parkinson's Disease ◽  
Gait Training ◽  
Training System ◽  
Design And Development
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