Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation
MechatronicsPublished 25 April 2015
Wei Meng, Quan Liu, Zude Zhou, Qingsong Ai, Bo Sheng, Sheng Quan Xie
Citations453
SJR quartileQ1
SJR score0.84
SNIP1.48
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TL;DR
A review on the most recent progress of mechanisms, training modes and control strategies for lower limb rehabilitation robots from year 2001 to 2014 is presented.
Abstract
Robot-assisted rehabilitation and therapy has become more and more frequently used to help the elderly, disabled patients or movement disorders to perform exercise and training. The field of robot-assisted lower limb rehabilitation has rapidly evolved in the last decade. This article presents a review on the most recent progress (from year 2001 to 2014) of mechanisms, training modes and control strategies for lower limb rehabilitation robots. Special attention is paid to the adaptive robot control methods considering hybrid data fusion and patient evaluation in robot-assisted passive and active lower limb rehabilitation. The characteristics and clinical outcomes of different training modes and control algorithms in recent studies are analysed and summarized. Research gaps and future directions are also highlighted in this paper to improve the outcome of robot-assisted rehabilitation.
Keywords
MedicineEngineering
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155 Citations2006Robert Riener, Lars Lünenburger +1 more
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149 Citations2010Jungwon Yoon, Bondhan Novandy +2 more
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135 Citations2006Christian Fleischer, Andreas Wege +2 more
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131 Citations2007J.L. Emken, Susan J. Harkema +3 more
It is demonstrated how a lightweight yet powerful robot can record subject-specific, trainer-induced leg trajectories during manually assisted stepping, then immediately replay those trajectories, reducing the effort required by the trainer during manual assistance, yet still generated similar patterns of muscle activation for six subjects with a chronic SCI.
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Evidence suggests that proportional myoelectric control may have distinct advantages over other types of control for robotic exoskeletons in basic science and rehabilitation.
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129 Citations2005Christian Fleischer, Christian Reinicke +1 more
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Journal of NeuroEngineering and RehabilitationMyoelectrically controlled wrist robot for stroke rehabilitation
111 Citations2013Rong Song, Raymond Kai‐Yu Tong +2 more
Results indicate that robot-aided therapy with voluntary participation of patient’s paretic motor system using myoelectric control might have positive effect on upper limb motor recovery.
Medical Engineering & PhysicsRobot assisted treadmill training: Mechanisms and training strategies
111 Citations2011Shahid Hussain, Sheng Quan Xie +1 more
This paper presents a review of the treadmill based robotic gait training devices, covering major advancements made at device design and training strategies level and potential challenges to the field.
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105 Citations2014Bertine M. Fleerkotte, Bram Koopman +4 more
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105 Citations2004Neville Hogan, Hermano Igo Krebs
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102 Citations2010E. Vergaro, Maura Casadio +4 more
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84 Citations2012Stefan Hesse, Christopher Tomelleri +3 more
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84 Citations2012Shahid Hussain, Sheng Quan Xie +1 more
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84 Citations2010Sheng Quan Xie, Prashant K. Jamwal
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83 Citations2010Jiafan Zhang, Yiming Dong +4 more
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82 Citations2010Changmok Choi, Suncheol Kwon +3 more
An estimation method of the palmar pinch force using surface electromyography (SEMG) using three myoelectric sites on the skin were selected on the basis of anatomical considerations and a Fisher discriminant analysis, and SEMG at these sites yields suitable information for pinch force estimation.
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Applied Bionics and BiomechanicsDesign and Control of a Lower Limb Exoskeleton for Robot-Assisted Gait Training
46 Citations2009Pieter Beyl, Michaël Van Damme +3 more
Journal of BiomechanicsSymmetry-based resistance as a novel means of lower limb rehabilitation
40 Citations2006Ann M. Simon, R. Brent Gillespie +1 more
Performing strength training therapy with this controller may allow hemiparetic individuals to focus better on increasing strength and neuromuscular recruitment in their paretic limb while experiencing symmetric limb forces.
Journal of Materials Engineering and PerformanceAn EMG-Controlled SMA Device for the Rehabilitation of the Ankle Joint in Post-Acute Stroke
38 Citations2011Simone Pittaccio, Stefano Viscuso
An active orthosis powered by two rotary actuators containing NiTi wire was designed to obtain ankle dorsiflexion and proved that it can produce strokes up to 36° against resisting torques exceeding 180 Ncm.
Towards intelligent lower limb wearable robots: Challenges and perspectives - State of the art
36 Citations2009Samer Mohammed, Yacine Amirat
A state-of-the-art of the main research advances in lower limbs actuated orthosis/wearable robots in the literature is presented and the challenges not yet solved such as issues related to portability, energy consumption, social constraints and high costs of theses devices are discussed.
Industrial Robot the international journal of robotics research and applicationActive interaction control applied to a lower limb rehabilitation robot by using EMG recognition and impedance model
36 Citations2014Wei Meng, Quan Liu +2 more
A seamless active interaction control method integrating electromyography (EMG)-triggered assistance and the adaptive impedance control scheme for parallel robot-assisted lower limb rehabilitation and training is proposed.
Advances in Mechanical EngineeringPractical Velocity Tracking Control of a Parallel Robot Based on Fuzzy Adaptive Algorithm
33 Citations2013Zude Zhou, Wei Meng +3 more
The results demonstrated that the proposed algorithm could effectively reduce the speed jitter, enhance the position and velocity tracking precision of the robot, and the reliability and robustness of the system could also be ensured.
Rehabilitation robotics: adapting robot behavior to suit patient needs and abilities
31 Citations2004Stephen Buerger, Jerome J. Palazzolo +2 more
A novel therapy algorithm that exploits similarities between motor recovery and motor learning adapts robot impedance to patients as they recover and results of therapy using this algorithm are a substantial improvement over the original robot therapy.
IEEE Transactions on Neural Systems and Rehabilitation EngineeringThe Cybernetic Rehabilitation Aid: Preliminary Results for Wrist and Elbow Motions in Healthy Subjects
28 Citations2012Erhan Akdoğan, Keisuke Shima +4 more
The experimental results indicated that the healthy (able-bodied) subjects were able to follow the desired muscular contraction levels instructed by the therapist or the system and perform proper joint motion without relying on visual feedback.
Australasian Physical & Engineering Sciences in MedicineGestures recognition based on wavelet and LLE
15 Citations2013Qingsong Ai, Quan Liu +2 more
This paper combines wavelet coefficient and LLE together as the new feature of SEMGS and indicates that based on the proposed method, the identification of these six gestures can reach an average rate of 97.71 %.
Joint force control of parallel robot for ankle rehabilitation
13 Citations2009Yun Ho Tsoi, Sheng Quan Xie +1 more
The proposed controller uses a disturbance observer based approach and is designed for situations where the external forces applied on the robot are dominant compared to the inertial terms in the robot dynamics.
Biomechanics and Modeling in MechanobiologyPredicting isometric force from muscular activation using a physiologically inspired model
6 Citations2011Heiko Wagner, Kim Joris Boström +1 more
A model is constructed that predicts isometric force from surface electromyographic signals (sEMG) that is experimentally validated and then it is used to predict contractions from sEMG data.
Lecture notes in computer scienceA Muscular Activation Controlled Rehabilitation Robot System
6 Citations2011Erhan Akdoğan, Zeynep Şişman
In this study a muscular activation controlled rehabilitation robot system for lower limbs is proposed and a probabilistic artificial neural network model was used for discrimination of EMG patterns for robot control with EMG signals.
Gait & PostureMovement analysis with the driven gait orthosis Lokomat
6 Citations2006Raphael Banz, Marc Bolliger +2 more
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