Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation

This study introduces a body-weight-support (BWS) robot actuated by two pneumatic artificial muscles (PAMs). Conventional BWS devices typically use springs or a single actuator, whereas our robot has a split force-controlled BWS (SF-BWS), in which two force-controlled actuators independently support the left and right sides of the user’s body. To reduce the experience of weight, vertical unweighting support forces are transferred directly to the user’s left and right hips through a newly designed harness with an open space around the shoulder and upper chest area to allow freedom of movement. A motion capture evaluation with three healthy participants confirmed that the proposed harness does not impede upper-body motion during laterally identical force-controlled partial BWS walking, which is quantitatively similar to natural walking. To evaluate our SF-BWS robot, we performed a force-tracking and split-force control task using different simulated load weight setups (40, 50, and 60 kg masses). The split-force control task, providing independent force references to each PAM and conducted with a 60 kg mass and a test bench, demonstrates that our SF-BWS robot is capable of shifting human body weight in the mediolateral direction. The SF-BWS robot successfully controlled the two PAMs to generate the desired vertical support forces.

[1]  Chan Lee,et al.  Gravity and Impedance Compensation of Body Weight Support System Driven by Two Series Elastic Actuators , 2022, IEEE/ASME Transactions on Mechatronics.

[2]  J. von Zitzewitz,et al.  Neglected physical human-robot interaction may explain variable outcomes in gait neurorehabilitation research , 2021, Science Robotics.

[3]  Yasuhisa Hirata,et al.  Control and Evaluation of Body Weight Support Walker for Overground Gait Training , 2021, IEEE Robotics and Automation Letters.

[4]  M. Berteanu,et al.  Pelvis mobility control solutions for gait rehabilitation systems: a review , 2021 .

[5]  M. Hommel,et al.  Balance, Lateropulsion, and Gait Disorders in Subacute Stroke , 2020, Neurology.

[6]  Scott W. Ducharme,et al.  Walking cadence (steps/min) and intensity in 41 to 60-year-old adults: the CADENCE-adults study , 2020, International Journal of Behavioral Nutrition and Physical Activity.

[7]  Kotaro Sasaki,et al.  Influence of Body Weight Support Systems on the Abnormal Gait Kinematic , 2020, Applied Sciences.

[8]  Jun Morimoto,et al.  Development of Shoulder Exoskeleton Toward BMI Triggered Rehabilitation Robot Therapy , 2018, 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[9]  Jun Morimoto,et al.  Robotizing Double-Bar Ankle-Foot Orthosis , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

[10]  Heike Vallery,et al.  Design of RYSEN: An Intrinsically Safe and Low-Power Three-Dimensional Overground Body Weight Support , 2018, IEEE Robotics and Automation Letters.

[11]  Sunil K. Agrawal,et al.  Improving Trunk-Pelvis Stability Using Active Force Control at the Trunk and Passive Resistance at the Pelvis , 2018, IEEE Robotics and Automation Letters.

[12]  Sehoon Oh,et al.  Modal force and torque control with wire-tension control using series elastic actuator for body weight support system , 2017, IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society.

[13]  J. Mehrholz,et al.  Treadmill training and body weight support for walking after stroke. , 2017, The Cochrane database of systematic reviews.

[14]  A. Ijspeert,et al.  A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury , 2017, Science Translational Medicine.

[15]  Shin-ichiroh Yamamoto,et al.  Development of a body weight support system using pneumatic muscle actuators: Controlling and validation , 2016 .

[16]  K. Gordon,et al.  Body weight support impacts lateral stability during treadmill walking. , 2016, Journal of biomechanics.

[17]  Jun Morimoto,et al.  An EMG-Driven Weight Support System With Pneumatic Artificial Muscles , 2016, IEEE Systems Journal.

[18]  Sunil Kumar Agrawal,et al.  A Novel Approach to Apply Gait Synchronized External Forces on the Pelvis Using A-TPAD to Reduce Walking Effort , 2016, IEEE Robotics and Automation Letters.

[19]  Jun Morimoto,et al.  Optimal control approach for pneumatic artificial muscle with using pressure-force conversion model , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[20]  Marcus G Pandy,et al.  Quantitative evaluation of the major determinants of human gait. , 2014, Journal of biomechanics.

[21]  Paolo Bonato,et al.  Robotic Gait Rehabilitation Trainer , 2014, IEEE/ASME Transactions on Mechatronics.

[22]  Xingda Qu,et al.  Hardware Development and Locomotion Control Strategy for an Over-Ground Gait Trainer: NaTUre-Gaits , 2014, IEEE Journal of Translational Engineering in Health and Medicine.

[23]  Marc Bolliger,et al.  Multidirectional transparent support for overground gait training , 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).

[24]  Chris H. Mullens,et al.  Maximum walking speeds obtained using treadmill and overground robot system in persons with post-stroke hemiplegia , 2012, Journal of NeuroEngineering and Rehabilitation.

[25]  Paolo Bonato,et al.  Gait Rehabilitation therapy using robot generated force fields applied at the pelvis , 2010, 2010 IEEE Haptics Symposium.

[26]  Michael Peshkin,et al.  KineAssist: Design and Development of a Robotic Overground Gait and Balance Therapy Device , 2008, Topics in stroke rehabilitation.

[27]  S.J. Harkema,et al.  A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[28]  A. Hof,et al.  Control of lateral balance in walking. Experimental findings in normal subjects and above-knee amputees. , 2007, Gait & posture.

[29]  I. Miyai,et al.  Does therapeutic facilitation add to locomotor outcome of body weight--supported treadmill training in nonambulatory patients with stroke? A randomized controlled trial. , 2006, Archives of physical medicine and rehabilitation.

[30]  Felix E Zajac,et al.  Gait deviations associated with post-stroke hemiparesis: improvement during treadmill walking using weight support, speed, support stiffness, and handrail hold. , 2005, Gait & posture.

[31]  David J. Reinkensmeyer,et al.  A robotic device for measuring and controlling pelvic motion during locomotor rehabilitation , 2003, Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE Cat. No.03CH37439).

[32]  V. Dietz,et al.  Locomotor activity in spinal man: significance of afferent input from joint and load receptors. , 2002, Brain : a journal of neurology.

[33]  H. Barbeau,et al.  A new approach to retrain gait in stroke patients through body weight support and treadmill stimulation. , 1998, Stroke.

[34]  Abstracts of Scientific Papers and Posters Presented at the 13th ISPRM World Congress, Kobe, Japan, June 9-13, 2019 , 2020, The journal of the International Society of Physical and Rehabilitation Medicine.

[35]  Tobias Nef,et al.  ZeroG: overground gait and balance training system. , 2011, Journal of rehabilitation research and development.

[36]  Stefan Hesse,et al.  Treadmill training with partial body weight support after stroke: a review. , 2008, NeuroRehabilitation.

[37]  R. Wellmon.  Gait Assessment and Training , 2007 .