Design of Multiple Axis Robotic Platform for Postural Stability Analysis

This paper presents the design and implementation of IsiMove, a new dynamic posturography platform. It allows the evaluation of the static and dynamic balance of a human placed on a force plate. IsiMove is a robotic platform open kinematic with four degrees of freedom: anteroposterior tilt, mediolat...

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Bibliographic Details
Published inIEEE transactions on neural systems and rehabilitation engineering Vol. 23; no. 1; pp. 93 - 103
Main Authors Kharboutly, Haissam, Ma, Jianting, Benali, Abderraouf, Thoumie, Philippe, Pasqui, Viviane, Bouzit, Mourad
Format Journal Article
LanguageEnglish
Published United States IEEE 01.01.2015
Subjects
Adult
Algorithms
Biomechanical Phenomena
Dynamics
Equipment Design
Female
Force
Humans
Kinematics
Male
mechanism design
medical robots and systems
Middle Aged
Models, Statistical
Postural Balance - physiology
Power cables
Proprioception
Pulleys
Rehabilitation - instrumentation
rehabilitation robotics
Robotics
Robots
Rotation
Software
Stroke Rehabilitation
Torque
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Summary:This paper presents the design and implementation of IsiMove, a new dynamic posturography platform. It allows the evaluation of the static and dynamic balance of a human placed on a force plate. IsiMove is a robotic platform open kinematic with four degrees of freedom: anteroposterior tilt, mediolateral tilt, vertical rotation, and horizontal translation. It is capable of measuring the displacement of the center of pressure over time, with a resolution of 0.1 mm for each foot and support a human of about 120 kg. IsiMove can generate various types of balance perturbations based on parameters such as direction, amplitude, frequency and shape. In this paper, we will give a description of the mechanisms that constitute our platform. First, the technical specifications of the hardware and software architecture will be presented. Then, we will provide details related to extensive experimental evaluations of the platform in both static and dynamic condition as well as result of postural stability analysis with healthy subjects and stroke patients.
ISSN:1534-4320
1558-0210
DOI:10.1109/TNSRE.2014.2329533