Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing

Background: Interlimb neural coupling implies that arm swing should be included during gait training to improve rehabilitation outcomes. We previously developed several systems for production of walking with arm swing, but the reaction forces on the foot sole during usage of the systems were not sat...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Juan Fang, Kenneth J. Hunt
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	interlimb neural coupling arm-leg synchronisation ground reaction forces foot loading impedance control curved treadmill Other systems of medicine RZ201-999 Medical technology R855-855.5
Acceso en línea:	https://doaj.org/article/c213c0e9f2564651b0765077a72acd23
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:c213c0e9f2564651b0765077a72acd23
record_format	dspace
spelling	oai:doaj.org-article:c213c0e9f2564651b0765077a72acd232021-11-18T06:49:28ZMechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing2673-686110.3389/fresc.2021.720182https://doaj.org/article/c213c0e9f2564651b0765077a72acd232021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/fresc.2021.720182/fullhttps://doaj.org/toc/2673-6861Background: Interlimb neural coupling implies that arm swing should be included during gait training to improve rehabilitation outcomes. We previously developed several systems for production of walking with arm swing, but the reaction forces on the foot sole during usage of the systems were not satisfactory and there was potential to improve control system performance. This work aimed to design and technically evaluate a novel system for producing walking with synchronised arm and leg movement and with dynamic force loading on the foot soles.Methods: The robotic system included a passive curved treadmill and a trunk frame, upon which the rigs for the upper and lower limbs were mounted. Ten actuators and servocontrollers with EtherCAT communication protocol controlled the bilateral shoulder, elbow, hip, knee and ankle joints. Impedance control algorithms were developed and ran in an industrial PC. Flexible pressure sensors recorded the plantar forces on the foot soles. The criteria of implementation and responsiveness were used to formally evaluate the technical feasibility of the system.Results: Using impedance algorithms, the system produced synchronous walking with arm swing on the curved treadmill, with mean RMS angular tracking error <2° in the 10 joint profiles. The foot trajectories relative to the hip presented similar shapes to those during normal gait, with mean RMS displacement error <1.5 cm. A force pattern that started at the heel and finished at the forefoot was observed during walking using the system, which was similar to the pattern from overground walking.Conclusion: The robotic system produced walking-like kinematics in the 10 joints and in the foot trajectories. Integrated with the curved treadmill, the system also produced walking-like force patterns on the foot soles. The system is considered feasible as far as implementation and responsiveness are concerned. Future work will focus on improvement of the mechanical system for future clinical application.Juan FangKenneth J. HuntFrontiers Media S.A.articleinterlimb neural couplingarm-leg synchronisationground reaction forcesfoot loadingimpedance controlcurved treadmillOther systems of medicineRZ201-999Medical technologyR855-855.5ENFrontiers in Rehabilitation Sciences, Vol 2 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	interlimb neural coupling arm-leg synchronisation ground reaction forces foot loading impedance control curved treadmill Other systems of medicine RZ201-999 Medical technology R855-855.5
spellingShingle	interlimb neural coupling arm-leg synchronisation ground reaction forces foot loading impedance control curved treadmill Other systems of medicine RZ201-999 Medical technology R855-855.5 Juan Fang Kenneth J. Hunt Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing
description	Background: Interlimb neural coupling implies that arm swing should be included during gait training to improve rehabilitation outcomes. We previously developed several systems for production of walking with arm swing, but the reaction forces on the foot sole during usage of the systems were not satisfactory and there was potential to improve control system performance. This work aimed to design and technically evaluate a novel system for producing walking with synchronised arm and leg movement and with dynamic force loading on the foot soles.Methods: The robotic system included a passive curved treadmill and a trunk frame, upon which the rigs for the upper and lower limbs were mounted. Ten actuators and servocontrollers with EtherCAT communication protocol controlled the bilateral shoulder, elbow, hip, knee and ankle joints. Impedance control algorithms were developed and ran in an industrial PC. Flexible pressure sensors recorded the plantar forces on the foot soles. The criteria of implementation and responsiveness were used to formally evaluate the technical feasibility of the system.Results: Using impedance algorithms, the system produced synchronous walking with arm swing on the curved treadmill, with mean RMS angular tracking error <2° in the 10 joint profiles. The foot trajectories relative to the hip presented similar shapes to those during normal gait, with mean RMS displacement error <1.5 cm. A force pattern that started at the heel and finished at the forefoot was observed during walking using the system, which was similar to the pattern from overground walking.Conclusion: The robotic system produced walking-like kinematics in the 10 joints and in the foot trajectories. Integrated with the curved treadmill, the system also produced walking-like force patterns on the foot soles. The system is considered feasible as far as implementation and responsiveness are concerned. Future work will focus on improvement of the mechanical system for future clinical application.
format	article
author	Juan Fang Kenneth J. Hunt
author_facet	Juan Fang Kenneth J. Hunt
author_sort	Juan Fang
title	Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing
title_short	Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing
title_full	Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing
title_fullStr	Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing
title_full_unstemmed	Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing
title_sort	mechanical design and control system development of a rehabilitation robotic system for walking with arm swing
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/c213c0e9f2564651b0765077a72acd23
work_keys_str_mv	AT juanfang mechanicaldesignandcontrolsystemdevelopmentofarehabilitationroboticsystemforwalkingwitharmswing AT kennethjhunt mechanicaldesignandcontrolsystemdevelopmentofarehabilitationroboticsystemforwalkingwitharmswing
_version_	1718424377510330368

Mechanical Design and Control System Development of a Rehabilitation Robotic System for Walking With Arm Swing

Ejemplares similares