An ankle robot for a modular gait rehabilitation system

In this paper, we present considerations for a novel robot to rehabilitate the ankle following stroke. This module has been developed at MIT and should commence pilot testing with stroke patients at the Baltimore Veterans Administration Medical Center by the end of Summer 2004. The purpose of the module is to train stroke survivors to overcome the common foot-drop problem. Its design follows the same guidelines as our upper-extremity designs, i.e., it is a low friction, backdriveable device with intrinsically low mechanical impedance.

[1]  S. Hesse,et al.  A mechanized gait trainer for restoration of gait. , 2000, Journal of rehabilitation research and development.

[2]  Gary L. Smidt,et al.  Gait in Rehabilitation , 1990 .

[3]  Robert L. Norton,et al.  Design of machinery : an introduction to the synthesis and analysis of mechanisms and machines , 1999 .

[4]  Joseph Edward Shigley,et al.  Mechanical engineering design , 1972 .

[5]  N. Hogan,et al.  Robot-aided sensorimotor arm training improves outcome in patients with chronic stroke , 2003, Neurology.

[6]  Ibrahim Adalbert Kapandji,et al.  The physiology of the joints: Annotated diagrams of the mechanics of the human joints , 1970 .

[7]  J. Perry,et al.  Gait Analysis , 2024 .

[8]  Kent K. Wu.  Foot Orthoses: Principles and Clinical Applications , 1990 .

[9]  N. Hogan,et al.  Is robot-aided sensorimotor training in stroke rehabilitation a realistic option? , 2001, Current opinion in neurology.

[10]  V. Dietz,et al.  Treadmill training of paraplegic patients using a robotic orthosis. , 2000, Journal of rehabilitation research and development.

[11]  N. Hogan,et al.  A novel approach to stroke rehabilitation , 2000, Neurology.

[12]  Lynette A. Jones,et al.  Perceptual constancy and the perceived magnitude of muscle forces , 2003, Experimental Brain Research.

[13]  James R. Celestino.  Characterization and control of a robot for wrist rehabilitation , 2003 .

[14]  Li-Qun Zhang,et al.  Intelligent stretching of ankle joints with contracture/spasticity , 2002, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[15]  J. Blaya.  Force-controllable ankle foot orthosis (AFO) to assist drop foot gait , 2002 .

[16]  A. J. van den Bogert,et al.  The influence of foot positioning on ankle sprains. , 2000, Journal of biomechanics.

[17]  M. Brainin,et al.  Acute neurological stroke care in Europe: results of the European Stroke Care Inventory , 2000, European journal of neurology.

[18]  N. Hogan,et al.  The effect of robot-assisted therapy and rehabilitative training on motor recovery following stroke. , 1997, Archives of neurology.

[19]  N. Hogan,et al.  Increasing productivity and quality of care: robot-aided neuro-rehabilitation. , 2000, Journal of rehabilitation research and development.

[20]  N. Hogan,et al.  Robot-aided neurorehabilitation. , 1998, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[21]  N. Hogan,et al.  Effects of robotic therapy on motor impairment and recovery in chronic stroke. , 2003, Archives of physical medicine and rehabilitation.

[22]  P. Duncan,et al.  Post-Stroke Rehabilitation , 2004 .

[23]  A. Slocum,et al.  Precision Machine Design , 1992 .