Kinematics of a robotic gait trainer for stroke rehabilitation

Kartik Bharadwaj, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

Repetitive task therapy is an effective form of rehabilitation for people suffering from the debilitating injuries of stroke. Robotic physical therapy devices have been developed in the past, many of which may benefit from the use of bi-directional pneumatic actuators. This paper presents the Robotic Gait Trainer, an ankle rehabilitation device structurally based on a tripod mechanism with one fixed link. The device incorporates two double-acting, compliant Spring Over Muscle (SOM) actuators as actuation links. The kinematic model of the tripod structure and analysis of the workspace of the robotic device are discussed. It is shown that the device is capable of moving the foot about the ankle joint in dorsiflexion and plantarflexion as well as inversion and eversion, a feature unique to the lightweight, compact and easily portable device. Results of the analysis prove that the tripod structure generates a Range of Motion that matches the safe anatomical range of the ankle joint during gait.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3492-3497
Number of pages6
Volume2006
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

Fingerprint

Patient rehabilitation
Kinematics
Robotics
Physical therapy
Pneumatic actuators
Muscle
Actuators

Keywords

  • Rehabilitation
  • Robotic gait trainer
  • Spring Over Muscle (SOM) actuator
  • Tripod mechanism

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Bharadwaj, K., & Sugar, T. (2006). Kinematics of a robotic gait trainer for stroke rehabilitation. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2006, pp. 3492-3497). [1642235] https://doi.org/10.1109/ROBOT.2006.1642235

Kinematics of a robotic gait trainer for stroke rehabilitation. / Bharadwaj, Kartik; Sugar, Thomas.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. p. 3492-3497 1642235.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bharadwaj, K & Sugar, T 2006, Kinematics of a robotic gait trainer for stroke rehabilitation. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1642235, pp. 3492-3497, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1642235
Bharadwaj K, Sugar T. Kinematics of a robotic gait trainer for stroke rehabilitation. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006. 2006. p. 3492-3497. 1642235 https://doi.org/10.1109/ROBOT.2006.1642235
Bharadwaj, Kartik ; Sugar, Thomas. / Kinematics of a robotic gait trainer for stroke rehabilitation. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. pp. 3492-3497
@inproceedings{abb7e2aba2544e5aad1563bc17ff4346,
title = "Kinematics of a robotic gait trainer for stroke rehabilitation",
abstract = "Repetitive task therapy is an effective form of rehabilitation for people suffering from the debilitating injuries of stroke. Robotic physical therapy devices have been developed in the past, many of which may benefit from the use of bi-directional pneumatic actuators. This paper presents the Robotic Gait Trainer, an ankle rehabilitation device structurally based on a tripod mechanism with one fixed link. The device incorporates two double-acting, compliant Spring Over Muscle (SOM) actuators as actuation links. The kinematic model of the tripod structure and analysis of the workspace of the robotic device are discussed. It is shown that the device is capable of moving the foot about the ankle joint in dorsiflexion and plantarflexion as well as inversion and eversion, a feature unique to the lightweight, compact and easily portable device. Results of the analysis prove that the tripod structure generates a Range of Motion that matches the safe anatomical range of the ankle joint during gait.",
keywords = "Rehabilitation, Robotic gait trainer, Spring Over Muscle (SOM) actuator, Tripod mechanism",
author = "Kartik Bharadwaj and Thomas Sugar",
year = "2006",
doi = "10.1109/ROBOT.2006.1642235",
language = "English (US)",
isbn = "0780395069",
volume = "2006",
pages = "3492--3497",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Kinematics of a robotic gait trainer for stroke rehabilitation

AU - Bharadwaj, Kartik

AU - Sugar, Thomas

PY - 2006

Y1 - 2006

N2 - Repetitive task therapy is an effective form of rehabilitation for people suffering from the debilitating injuries of stroke. Robotic physical therapy devices have been developed in the past, many of which may benefit from the use of bi-directional pneumatic actuators. This paper presents the Robotic Gait Trainer, an ankle rehabilitation device structurally based on a tripod mechanism with one fixed link. The device incorporates two double-acting, compliant Spring Over Muscle (SOM) actuators as actuation links. The kinematic model of the tripod structure and analysis of the workspace of the robotic device are discussed. It is shown that the device is capable of moving the foot about the ankle joint in dorsiflexion and plantarflexion as well as inversion and eversion, a feature unique to the lightweight, compact and easily portable device. Results of the analysis prove that the tripod structure generates a Range of Motion that matches the safe anatomical range of the ankle joint during gait.

AB - Repetitive task therapy is an effective form of rehabilitation for people suffering from the debilitating injuries of stroke. Robotic physical therapy devices have been developed in the past, many of which may benefit from the use of bi-directional pneumatic actuators. This paper presents the Robotic Gait Trainer, an ankle rehabilitation device structurally based on a tripod mechanism with one fixed link. The device incorporates two double-acting, compliant Spring Over Muscle (SOM) actuators as actuation links. The kinematic model of the tripod structure and analysis of the workspace of the robotic device are discussed. It is shown that the device is capable of moving the foot about the ankle joint in dorsiflexion and plantarflexion as well as inversion and eversion, a feature unique to the lightweight, compact and easily portable device. Results of the analysis prove that the tripod structure generates a Range of Motion that matches the safe anatomical range of the ankle joint during gait.

KW - Rehabilitation

KW - Robotic gait trainer

KW - Spring Over Muscle (SOM) actuator

KW - Tripod mechanism

UR - http://www.scopus.com/inward/record.url?scp=33845666279&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33845666279&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2006.1642235

DO - 10.1109/ROBOT.2006.1642235

M3 - Conference contribution

SN - 0780395069

SN - 9780780395060

VL - 2006

SP - 3492

EP - 3497

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -