Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation
This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to...
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| Published in | IEEE transactions on neural systems and rehabilitation engineering Vol. 15; no. 3; pp. 379 - 386 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
United States
IEEE
01.09.2007
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1534-4320 1558-0210 |
| DOI | 10.1109/TNSRE.2007.903919 |
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| Abstract | This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "pa- tient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis. |
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| AbstractList | This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "pa- tient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis. This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "patient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "patient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis. This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "patient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis. |
| Author | Veneman, Jan F. Hekman, Edsko E. G. van der Kooij, Herman Ekkelenkamp, Ralf Van Asseldonk, Edwin H. F. Kruidhof, Rik |
| Author_xml | – sequence: 1 givenname: Jan F. surname: Veneman fullname: Veneman, Jan F. organization: Univ. of Twente, Enschede – sequence: 2 givenname: Rik surname: Kruidhof fullname: Kruidhof, Rik organization: Univ. of Twente, Enschede – sequence: 3 givenname: Edsko E. G. surname: Hekman fullname: Hekman, Edsko E. G. organization: Univ. of Twente, Enschede – sequence: 4 givenname: Ralf surname: Ekkelenkamp fullname: Ekkelenkamp, Ralf organization: Univ. of Twente, Enschede – sequence: 5 givenname: Edwin H. F. surname: Van Asseldonk fullname: Van Asseldonk, Edwin H. F. organization: Univ. of Twente, Enschede – sequence: 6 givenname: Herman surname: van der Kooij fullname: van der Kooij, Herman email: h.vanderkooij@utwente.nl organization: Univ. of Twente, Enschede |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/17894270$$D View this record in MEDLINE/PubMed |
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| CODEN | ITNSB3 |
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| References | ref13 mauritz (ref4) 2004; 40 ref12 ref15 ref14 ref11 ref10 ref2 ref1 ref17 ref16 ref19 van der kooij (ref18) 2006 colombo (ref7) 2000; 37 ref24 ref26 ref25 ref20 ref22 winter (ref23) 1990 ref8 ferris (ref21) 2005; 21 ref9 ref3 ref6 ref5 |
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| SubjectTerms | Body-weight supported treadmill training Electromyography Equipment Design Equipment Failure Analysis Exercise Test - instrumentation Exercise Test - methods exo skeleton robot Exoskeletons Gait Disorders, Neurologic - rehabilitation gait training device Hip Humans Knee Leg Legged locomotion Man-Machine Systems Pelvis Position measurement Rehabilitation robotics Robotics - instrumentation Robotics - methods Robots Therapy, Computer-Assisted - instrumentation Therapy, Computer-Assisted - methods User-Computer Interface |
| Title | Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation |
| URI | https://ieeexplore.ieee.org/document/4303113 https://www.ncbi.nlm.nih.gov/pubmed/17894270 https://www.proquest.com/docview/917428366 https://www.proquest.com/docview/68310951 https://www.proquest.com/docview/771820214 https://www.proquest.com/docview/874190497 |
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