The effects of a powered ankle exoskeleton for plantarflexion torque assistance for the elderly
It is necessary to develop a rehabilitation robot for the assistance of movement of the ankle joint and the enhancement of ankle muscular activities during walking for the elderly. A powered ankle exoskeleton with an artificial pneumatic muscle has been designed to provide powered assistance in the...
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| Published in | International journal of precision engineering and manufacturing Vol. 14; no. 2; pp. 307 - 315 |
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| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Springer
Korean Society for Precision Engineering
01.02.2013
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2234-7593 2005-4602 |
| DOI | 10.1007/s12541-013-0042-x |
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| Abstract | It is necessary to develop a rehabilitation robot for the assistance of movement of the ankle joint and the enhancement of ankle muscular activities during walking for the elderly. A powered ankle exoskeleton with an artificial pneumatic muscle has been designed to provide powered assistance in the plantarflexion motion of the ankle joint. The objective of this study was to confirm the effectiveness of the powered ankle exoskeleton for the plantarflexion torque of the ankle joint. Fifteen healthy and fifteen elderly people used a wearable ankle exoskeleton during the plantarflexion motion of the ankle joint. Participants were assessed with three parameters to confirm the effectiveness of the system: a) maximal voluntary isokinetic plantarflexion torque using a Biodexdynamometer, b) muscular activities of the lower limbs, c) correlation of the agonist muscle and plantar torque during plantarflexion motion of the ankle joint. The assistance of the plantarflexion motion of the ankle joint is determined by the plantarflexion torque of the artificial pneumatic muscle of the powered ankle exoskeleton, and the assistant timing was decided the detection of subject’s movement intention that they did plantarflexion motion of the ankle joint. We developed a muscular stiffness force sensor to detect the activation of the soleus muscle for feed-forward control of the ankle exoskeleton. The experimental results show that the muscular stiffness force of the soleus muscle with feed-forward control was decreased, and the plantarflexion torque of the ankle joint while only wearing the ankle exoskeleton was decreased, but the plantarflexion torque with feed-forward control was increased. The amount of increasing with feed-forward control is higher than that of decreasing only wearing the exoskeleton. Based on the effectiveness of the system with the healthy participants, the elderly may have benefited from the plantarflexion motion augmented by the powered ankle exoskeleton. |
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| AbstractList | It is necessary to develop a rehabilitation robot for the assistance of movement of the ankle joint and the enhancement of ankle muscular activities during walking for the elderly. A powered ankle exoskeleton with an artificial pneumatic muscle has been designed to provide powered assistance in the plantarflexion motion of the ankle joint. The objective of this study was to confirm the effectiveness of the powered ankle exoskeleton for the plantarflexion torque of the ankle joint. Fifteen healthy and fifteen elderly people used a wearable ankle exoskeleton during the plantarflexion motion of the ankle joint. Participants were assessed with three parameters to confirm the effectiveness of the system: a) maximal voluntary isokinetic plantarflexion torque using a Biodexdynamometer, b) muscular activities of the lower limbs, c) correlation of the agonist muscle and plantar torque during plantarflexion motion of the ankle joint. The assistance of the plantarflexion motion of the ankle joint is determined by the plantarflexion torque of the artificial pneumatic muscle of the powered ankle exoskeleton, and the assistant timing was decided the detection of subject’s movement intention that they did plantarflexion motion of the ankle joint. We developed a muscular stiffness force sensor to detect the activation of the soleus muscle for feed-forward control of the ankle exoskeleton. The experimental results show that the muscular stiffness force of the soleus muscle with feed-forward control was decreased, and the plantarflexion torque of the ankle joint while only wearing the ankle exoskeleton was decreased, but the plantarflexion torque with feed-forward control was increased. The amount of increasing with feed-forward control is higher than that of decreasing only wearing the exoskeleton. Based on the effectiveness of the system with the healthy participants, the elderly may have benefited from the plantarflexion motion augmented by the powered ankle exoskeleton. |
| Author | Yu, Mi Kim, Kyung Ko, Deung-Young Jeong, Gu-Young Kwon, Tae-Kyu Yu, Chang-Ho |
| Author_xml | – sequence: 1 givenname: Kyung surname: Kim fullname: Kim, Kyung organization: R&D Division, Chonbuk National University Automobile-parts & Mold Technology Innovation Center – sequence: 2 givenname: Chang-Ho surname: Yu fullname: Yu, Chang-Ho organization: Division of Biomedical Engineering, College of Engineering, Chonbuk National University – sequence: 3 givenname: Mi surname: Yu fullname: Yu, Mi organization: Center for R&D Strategy, Chonbuk National University – sequence: 4 givenname: Gu-Young surname: Jeong fullname: Jeong, Gu-Young organization: Center for Healthcare Technology Development, Chonbuk National University – sequence: 5 givenname: Deung-Young surname: Ko fullname: Ko, Deung-Young organization: Department of Junior Secondary School Education, Kangnam University – sequence: 6 givenname: Tae-Kyu surname: Kwon fullname: Kwon, Tae-Kyu email: kwon10@jbnu.ac.kr organization: Division of Biomedical Engineering, College of Engineering, Chonbuk National University, Bioengineering Research Center for the Aged, Chonbuk National University |
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| Cites_doi | 10.1080/02699050801941771 10.1097/00008526-199901120-00003 10.1109/ICORR.2005.1501094 10.5143/JESK.2007.26.2.131 10.1007/s12541-012-0197-x 10.1109/HAPTIC.2010.5444627 10.1097/00003086-197407000-00004 10.1016/j.gaitpost.2005.05.004 10.1016/j.gaitpost.2006.07.002 10.1016/j.jbiomech.2009.09.030 10.1016/j.jbiomech.2005.05.018 10.1016/j.jbiomech.2006.12.006 10.1016/j.apmr.2003.11.026 10.1007/3-540-45491-8_43 10.1002/14651858.CD006075.pub2 10.1123/jab.21.2.189 10.20965/jrm.2005.p0568 10.1109/ICORR.2007.4428450 10.1007/s12541-012-0248-3 10.1109/TNSRE.2003.823266 10.1007/s10015-004-0286-8 |
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| Keywords | Plantarflexion torque MSF feed-forward control Powered ankle exoskeleton |
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| References | FreivogelS.MehrholzJ.Husak-SotomayorT.SchmalohrD.Gait Training with the Newly Developed ‘LokoHelp’-System is Feasible for Non-ambulatory Patients after Stroke, Spinal Cord and Brain Injury. A Feasibility StudyBrain Injury2008227–862563210.1080/02699050801941771 NorrisJ. A.GranataK. P.MitrosM. R.ByrneE. M.MarshA. P.Effect of augmented plantarflexion power on preferred walking speed and economy in young and older adultsGait & Posture20072562062710.1016/j.gaitpost.2006.07.002 ColomboG.JoergM.SchreierR.DietzV.Treadmill Training of Paraplegic Patients Using a Robotic OrthosisJournal of Rehabilitation Research and Development2000376693700 SasakiD.NoritsuguT.TakaiwaM.Development of Pneumatic Power Assist Splint “ASSIST” Operated by Human IntentionJournal of Robotics and Mechatronics2005175568574 HesseS.UhlenbrockD.A Mechanized Gait Trainer for Restoration of GaitJournal of Rehabilitation Research and Development2000376701708 States, R. A., Pappas, E., and Salem, Y., “Overground Physical Therapy Gait Training for Chronic Stroke Patients with Mobility Deficits,” Cochrane Database Syst. Rev., Vol. 8, No. 3, 2009. ChoiY. C.RheeK. M.ChoiH. S.The Stress Distribution Property on the Customized Ankle Foot Orthoses During the Gait PeriodJ. KSPE2008253165175 LeeH. D.KimW. S.HanJ. S.HanC. S.The Technical Trend of the Exoskeleton Robot System for Human Power AssistanceInt. J. Precis. Eng. Manuf.20121381491149710.1007/s12541-012-0197-x GordenK. E.FerrisD. P.Learning to walk with a robotic ankle exoskeletonJournal of Biomechanics200740122636264410.1016/j.jbiomech.2006.12.006 MoromugiS.KoujinaY.ArikiS.OkamotoA.TakayukiT.FengM.IshimatsuT.Muscle stiffness sensor to control an assistance device for the disabledArtificial Life and Robotics200481424510.1007/s10015-004-0286-8 Kawamoto, H. and Sankai, Y., “Power Assist System HAL-3 for Gait Disorder Person,” Proc. of the 8th International Conference on Computers Helping People with Special Needs, pp. 196–203, 2002. WongC. K.BishopL.SteinJ.A Wearable Robotic Knee Orthosis for Gait Training: A Case-Series of Hemiparetic Stroke SurvivorsProsthetics and Orthotics International2011301113120 Díaz, I., Gil, J. J., and Sánchez, E., “Lower-Limb Robotic Rehabilitation: Literature Review and Challenges,” Journal of Robotics, Vol. 2011, Article ID 759764, 2011. Perry, J., “Kinesiology of lower extremity bracing,” Clinical Orthopaedics and Related Research, Vol. 102, No. 18–31, 1974. BlayaJ. A.HerrH.Adaptive Control of a Variable-Impedance Ankle-Foot Orthosis to Assist Drop-Foot GaitIEEE Transactions on Neural Systems and Rehabilitation Engineering2004121243110.1109/TNSRE.2003.823266 YokoyamaO.SashikaH.HakiwaraA.YamamotoS.YasuiT.Kinematic Effects on Gait of a Newly Designed Ankle-Foot Orthosis with Oil Damper Resistance: A case Series of 2 patients With HemiplegiaArchives of Physical Medicine and Rehabilitation20058616216610.1016/j.apmr.2003.11.026 Perry, J., “Gait Analysis-Normal and pathological Function,” SLACK, Inc., pp. 54–62, 1992. West, G. R., “Powered Gait Orthosis and Method of Utilizing Same,” US Patent, No. 6689075, 2004. FerrisD. P.CzernieckiJ. M.HannafordB.An Ankle exoskeleton Powered by Artificial Pneumatic MusclesJournal of Applied Biomechanics2005212189197 KimK. J.KangM. S.ChoiY. S.JangH. Y.HanJ. S.HanC. S.Development of the Exoskeleton Knee Rehabilitation Robot Using the Linear ActuatorInt. J. Precis. Eng. Manuf.201213101889189510.1007/s12541-012-0248-3 KimK.KwonT. K.KangS. R.PiaoY. J.JeongG. Y.Evaluation of Plantarflexion Torque of the Ankle exoskeleton Using the Artificial Pneumatic MuscleJ. KSPE20102768289 HwangS. J.KimJ. Y.HwangS. H.ParkS. W.YiJ. B.KimY. H.Development of the Active Ankle Foot Orthosis to Induce the Normal Gait for the Paralysis patientsJournal of the Ergonomics Society of Korea200726213113610.5143/JESK.2007.26.2.131 Peshkin, M., Brown, D. A., Santos-Munne, J. J., Makhlin, A., Lewis, E., Colgate, J. E., Patton, J., and Schwandt, D., “KineAssist: A Robotic Overground Gait and Balance Training Device,” Proc. of the 9th IEEE International Conference on Rehabilitation Robotics, (ICORR’ 05), pp. 241–246, 2005. Hwang, S. J., Kim, J. Y., and Kim, Y. H., “Development of an Active Ankle-Foot-Orthosis to Prevent Dragging and Dropping Foot,” Proc. of KSPE Autumn Conference, pp. 557–558, 2006. YamamotoS.EbinaM.KuboS.HayashiT.AkitaY.HayakawaY.Development of an ankle-foot orthosis with dorsiflexion assist. Part 2: structure and evaluationJ. Prosthet. Orthot.1999112428 Roy, A., Krebs, H. I., Patterson S. L., Judkins, T. N., Khanna, I., Forrester, L. W., Macko, R. M., and Hogan, N., “Measurement of Human Ankle Stiffness Using the Anklebot,” Proc. of the 10th IEEE International Conference on Rehabilitation Robotics, (ICORR’07), pp. 356–363, 2007. GordenK. E.SawickiG. S.FerrisD. P.Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosisJournal of Biomechanics2006391832184110.1016/j.jbiomech.2005.05.018 KimK.KangS. R.PiaoY. G.JeongG. Y.KwonT. K.Analysis of the Assist Characteristics for Torque of the Ankle Plantarflexion in Elderly Adults Wearing the Ankle exoskeletonThe Journal of Korea Robotics Society2010514854 Goffer, A., “Gait-locomotor Apparatus,” US Patent, No. 7153242, 2006. Yano, H., Tamefusa, S., Tanaka, N., Saitou, H., and Iwata, H., “Gait Rehabilitation System for Stair Climbing and Descending,” Proc. of the IEEE Haptics Symposium (HAPTICS’10), pp. 393–400, 2010. FerrisD. P.GordonK. E.SawickiG. S.PeethambaranA.An improved powered ankle-foot orthosis using proportional myoelectric controlGait and Posture200623442542610.1016/j.gaitpost.2005.05.004 Sakaguchi, M. and Furusho, J., “Force Display System Using Particle-Type Electrorheological Fluids,” Proc. of the 1998 IEEE International Conference on Robotics and Automation, pp. 2586–2590, 1998. CaoP. C.LewisC. L.FerrisD. P.Invariant ankle moment patterns when walking with and without a robotic ankle exoskeletonJournal of Biomechanics201043220320910.1016/j.jbiomech.2009.09.030 42_CR8 42_CR11 42_CR9 S. Hesse (42_CR6) 2000; 37 C. K. Wong (42_CR13) 2011; 30 42_CR14 42_CR15 S. Yamamoto (42_CR21) 1999; 11 K. Kim (42_CR30) 2010; 5 42_CR1 42_CR2 J. A. Norris (42_CR25) 2007; 25 S. Moromugi (42_CR29) 2004; 8 D. P. Ferris (42_CR17) 2005; 21 42_CR5 G. Colombo (42_CR3) 2000; 37 42_CR7 K. J. Kim (42_CR32) 2012; 13 D. P. Ferris (42_CR18) 2006; 23 42_CR10 Y. C. Choi (42_CR28) 2008; 25 42_CR23 42_CR27 D. Sasaki (42_CR24) 2005; 17 K. E. Gorden (42_CR20) 2007; 40 O. Yokoyama (42_CR22) 2005; 86 K. Kim (42_CR31) 2010; 27 K. E. Gorden (42_CR19) 2006; 39 S. Freivogel (42_CR4) 2008; 22 P. C. Cao (42_CR26) 2010; 43 H. D. Lee (42_CR33) 2012; 13 J. A. Blaya (42_CR12) 2004; 12 S. J. Hwang (42_CR16) 2007; 26 |
| References_xml | – reference: Kawamoto, H. and Sankai, Y., “Power Assist System HAL-3 for Gait Disorder Person,” Proc. of the 8th International Conference on Computers Helping People with Special Needs, pp. 196–203, 2002. – reference: Perry, J., “Kinesiology of lower extremity bracing,” Clinical Orthopaedics and Related Research, Vol. 102, No. 18–31, 1974. – reference: Sakaguchi, M. and Furusho, J., “Force Display System Using Particle-Type Electrorheological Fluids,” Proc. of the 1998 IEEE International Conference on Robotics and Automation, pp. 2586–2590, 1998. – reference: Roy, A., Krebs, H. I., Patterson S. L., Judkins, T. N., Khanna, I., Forrester, L. W., Macko, R. M., and Hogan, N., “Measurement of Human Ankle Stiffness Using the Anklebot,” Proc. of the 10th IEEE International Conference on Rehabilitation Robotics, (ICORR’07), pp. 356–363, 2007. – reference: States, R. A., Pappas, E., and Salem, Y., “Overground Physical Therapy Gait Training for Chronic Stroke Patients with Mobility Deficits,” Cochrane Database Syst. Rev., Vol. 8, No. 3, 2009. – reference: KimK.KangS. R.PiaoY. G.JeongG. Y.KwonT. K.Analysis of the Assist Characteristics for Torque of the Ankle Plantarflexion in Elderly Adults Wearing the Ankle exoskeletonThe Journal of Korea Robotics Society2010514854 – reference: ChoiY. C.RheeK. M.ChoiH. S.The Stress Distribution Property on the Customized Ankle Foot Orthoses During the Gait PeriodJ. KSPE2008253165175 – reference: KimK.KwonT. K.KangS. R.PiaoY. J.JeongG. Y.Evaluation of Plantarflexion Torque of the Ankle exoskeleton Using the Artificial Pneumatic MuscleJ. KSPE20102768289 – reference: KimK. J.KangM. S.ChoiY. S.JangH. Y.HanJ. S.HanC. S.Development of the Exoskeleton Knee Rehabilitation Robot Using the Linear ActuatorInt. J. Precis. Eng. Manuf.201213101889189510.1007/s12541-012-0248-3 – reference: Goffer, A., “Gait-locomotor Apparatus,” US Patent, No. 7153242, 2006. – reference: WongC. K.BishopL.SteinJ.A Wearable Robotic Knee Orthosis for Gait Training: A Case-Series of Hemiparetic Stroke SurvivorsProsthetics and Orthotics International2011301113120 – reference: Perry, J., “Gait Analysis-Normal and pathological Function,” SLACK, Inc., pp. 54–62, 1992. – reference: HesseS.UhlenbrockD.A Mechanized Gait Trainer for Restoration of GaitJournal of Rehabilitation Research and Development2000376701708 – reference: LeeH. D.KimW. S.HanJ. S.HanC. S.The Technical Trend of the Exoskeleton Robot System for Human Power AssistanceInt. J. Precis. Eng. Manuf.20121381491149710.1007/s12541-012-0197-x – reference: GordenK. E.SawickiG. S.FerrisD. P.Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosisJournal of Biomechanics2006391832184110.1016/j.jbiomech.2005.05.018 – reference: ColomboG.JoergM.SchreierR.DietzV.Treadmill Training of Paraplegic Patients Using a Robotic OrthosisJournal of Rehabilitation Research and Development2000376693700 – reference: SasakiD.NoritsuguT.TakaiwaM.Development of Pneumatic Power Assist Splint “ASSIST” Operated by Human IntentionJournal of Robotics and Mechatronics2005175568574 – reference: Díaz, I., Gil, J. J., and Sánchez, E., “Lower-Limb Robotic Rehabilitation: Literature Review and Challenges,” Journal of Robotics, Vol. 2011, Article ID 759764, 2011. – reference: West, G. R., “Powered Gait Orthosis and Method of Utilizing Same,” US Patent, No. 6689075, 2004. – reference: Hwang, S. J., Kim, J. Y., and Kim, Y. H., “Development of an Active Ankle-Foot-Orthosis to Prevent Dragging and Dropping Foot,” Proc. of KSPE Autumn Conference, pp. 557–558, 2006. – reference: YamamotoS.EbinaM.KuboS.HayashiT.AkitaY.HayakawaY.Development of an ankle-foot orthosis with dorsiflexion assist. Part 2: structure and evaluationJ. Prosthet. Orthot.1999112428 – reference: YokoyamaO.SashikaH.HakiwaraA.YamamotoS.YasuiT.Kinematic Effects on Gait of a Newly Designed Ankle-Foot Orthosis with Oil Damper Resistance: A case Series of 2 patients With HemiplegiaArchives of Physical Medicine and Rehabilitation20058616216610.1016/j.apmr.2003.11.026 – reference: HwangS. J.KimJ. Y.HwangS. H.ParkS. W.YiJ. B.KimY. H.Development of the Active Ankle Foot Orthosis to Induce the Normal Gait for the Paralysis patientsJournal of the Ergonomics Society of Korea200726213113610.5143/JESK.2007.26.2.131 – reference: FerrisD. P.GordonK. E.SawickiG. S.PeethambaranA.An improved powered ankle-foot orthosis using proportional myoelectric controlGait and Posture200623442542610.1016/j.gaitpost.2005.05.004 – reference: FreivogelS.MehrholzJ.Husak-SotomayorT.SchmalohrD.Gait Training with the Newly Developed ‘LokoHelp’-System is Feasible for Non-ambulatory Patients after Stroke, Spinal Cord and Brain Injury. A Feasibility StudyBrain Injury2008227–862563210.1080/02699050801941771 – reference: Peshkin, M., Brown, D. A., Santos-Munne, J. J., Makhlin, A., Lewis, E., Colgate, J. E., Patton, J., and Schwandt, D., “KineAssist: A Robotic Overground Gait and Balance Training Device,” Proc. of the 9th IEEE International Conference on Rehabilitation Robotics, (ICORR’ 05), pp. 241–246, 2005. – reference: GordenK. E.FerrisD. P.Learning to walk with a robotic ankle exoskeletonJournal of Biomechanics200740122636264410.1016/j.jbiomech.2006.12.006 – reference: Yano, H., Tamefusa, S., Tanaka, N., Saitou, H., and Iwata, H., “Gait Rehabilitation System for Stair Climbing and Descending,” Proc. of the IEEE Haptics Symposium (HAPTICS’10), pp. 393–400, 2010. – reference: FerrisD. P.CzernieckiJ. M.HannafordB.An Ankle exoskeleton Powered by Artificial Pneumatic MusclesJournal of Applied Biomechanics2005212189197 – reference: CaoP. C.LewisC. L.FerrisD. P.Invariant ankle moment patterns when walking with and without a robotic ankle exoskeletonJournal of Biomechanics201043220320910.1016/j.jbiomech.2009.09.030 – reference: NorrisJ. A.GranataK. P.MitrosM. R.ByrneE. M.MarshA. 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| Title | The effects of a powered ankle exoskeleton for plantarflexion torque assistance for the elderly |
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