Leg muscle activation evoked by floor stiffness perturbations: A novel approach to robot-assisted gait rehabilitation

Jeffrey Skidmore, Panagiotis Artemiadis

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

3 Scopus citations

Abstract

Robotic devices have been used in a variety of rehabilitation protocols, including gait rehabilitation after stroke. However, robotic intervention in gait therapy has only produced moderate results compared to conventional physiotherapy. We suggest a novel approach to robotic interventions which takes advantage of inter-limb coordination mechanisms. We hypothesize the existence of a mechanism of inter-leg coordination that may remain intact after a hemiplegic stroke that may be utilized to obtain functional improvement of the impaired leg. One of the most significant advantages of this approach is the safety of the patient, since this does not require any direct manipulation of the impaired leg. In this paper, we focus on designing and applying unilateral perturbations that evoke contralateral leg motions through mechanisms of inter-leg coordination. Real-time control of floor stiffness is utilized to uniquely differentiate force and kinematic feedback, creating novel perturbations. We present results of repeatable and scalable evoked muscle activity of the contralateral tibialis anterior muscle through unilateral stiffness perturbations. We also present a mathematical model that accurately describes the relationship between the magnitude of the stiffness perturbation and the evoked muscle activity, that could result in model-based rehabilitation strategies for impaired walkers. The novel methods and results presented in this paper set the foundation for a paradigm shift of robotic interventions for gait rehabilitation.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6463-6468
Number of pages6
Volume2015-June
EditionJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period5/26/155/30/15

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Skidmore, J., & Artemiadis, P. (2015). Leg muscle activation evoked by floor stiffness perturbations: A novel approach to robot-assisted gait rehabilitation. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 6463-6468). [7140107] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7140107