The guidelines for enhancing robot-assisted training for post-stroke survivors head towards increasing exercise realism and variability; in particular lower limb rehabilitation needs the patient to feel challenged to adapt his locomotion and dynamic balance capabilities to different virtual ground scenarios. This paper proposes a design for a robot whose end-effector acts as a footplate to be in permanent contact with the user's foot during practice: the structure is such that it enables the user's foot to rotate around three axis, differently from what is currently available in the research for gait training; the parallel kinematic structure and the dimensional synthesis allow a suitable range of motion and aim at limiting device mass, footprint and reaction forces on the actuators when rendering virtual ground. The employed methodology has been validated using ground reaction forces data relative to stroke survivors.


    Access

    Download


    Export, share and cite



    Title :

    An Optimized Design of a Parallel Robot for Gait Training



    Publication date :

    2017-08-15


    Remarks:

    In: Amirabdollahian, F and Burdet, E and Masia, L, (eds.) 2017 International Conference on Rehabilitation Robotics (ICORR). (pp. pp. 418-423). IEEE: London, UK. (2017)


    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Customized Robot Aided Gait Training for NeuroRehabilitation

    Hussain, Shahid / Xie, Sheng Q. | Springer Verlag | 2013


    Controlling patient participation during robot-assisted gait training

    Koenig, A / Omlin, X / Bergmann, J et al. | BASE | 2011

    Free access


    Robot-assisted gait self-training: assessing the level achieved

    Scheidig, Andrea / Schütz, Benjamin / Trinh, Thanh Quang et al. | BASE | 2021

    Free access

    Dynamic Control of Gait and Posture Training on Robot

    Chen, Chih Chen ;Ciou, Shih Hsiang ;Hwang, Yuh Shyan | Trans Tech Publications | 2014