Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)

被引:554
作者
Banala, Sai K. [1 ]
Kim, Seok Hun [2 ]
Agrawal, Sunil K. [1 ]
Scholz, John P. [2 ]
机构
[1] Univ Delaware, Dept Mech Engn, Newark, DE 19716 USA
[2] Univ Delaware, Dept Phys Therapy, Newark, DE 19716 USA
关键词
Force-field control; gait rehabilitation; rehabilitation robotics; SPINAL-CORD-INJURY; MOTOR; HELPLESSNESS; PERFORMANCE; STRATEGIES; STROKE;
D O I
10.1109/TNSRE.2008.2008280
中图分类号
R318 [生物医学工程];
学科分类号
0831 ;
摘要
Gait training of stroke survivors is crucial to facilitate neuromuscular plasticity needed for improvements in functional walking ability. Robot assisted gait training (RAGT) was developed for stroke survivors using active leg exoskeleton (ALEX) and a force-field controller, which uses assist-as-needed paradigm for rehabilitation. In this paradigm undesirable gait motion is resisted and assistance is provided towards desired motion. The force-field controller achieves this paradigm by effectively applying forces at the ankle of the subject through actuators on the hip and knee joints. Two stroke survivors participated in a 15-session gait training study each with ALEX. The results show that by the end of the training the gait pattern of the patients improved and became closer to a healthy subject's gait pattern. Improvement is seen as an increase in the size of the patients' gait pattern, increased knee and ankle joint excursions and increase in their walking speeds on the treadmill.
引用
收藏
页码:2 / 8
页数:7
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