Abstract
A number of cable-based systems have been developed for gait rehabilitation, but one aspect which remains relatively under-addressed is medial-lateral postural stability, which can be exacerbated when using certain types of gait rehabilitation equipment. In this paper, a cable system is presented for promoting healthy medial-lateral postural stability patterns and integrating with existing gait rehabilitation devices, as well as providing direct assistance at the joints of the lower limb.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Winter, D.A.: Human balance and posture control during standing and walking. Gait Posture 3, 193–214 (1995)
Shirota, C., van Asseldonk, E., Matjačić, Z., et al.: Robot-supported assessment of balance in standing and walking. J. Neuroeng. Rehabil. 14, 80 (2017)
Hobbs, B., Artemiadis, P.: A review of robot-assisted lower-limb stroke therapy: unexplored paths and future directions in gait rehabilitation. Front. Neurorobot. 14, 19 (2020)
Murray, S., Ha, K., Hartigan, C., Goldfarb, M.: An assistive control approach for a lower-limb exoskeleton to facilitate recovery of walking following stroke. IEEE Trans. Neural Syst. Rehabil. Eng. 23(3), 441–449 (2015)
Panizzolo, F.A., Galiana, I., Asbeck, A.T., et al.: A biologically-inspired multi-joint soft exosuit that can reduce the energy cost of loaded walking. J. Neuroeng. Rehabil. 13(1), 1–14 (2016)
Hidler, J., Brennan, D., Black, I., Nichols, D., Brady, K., Nef, T.: ZeroG: overground gait and balance training system. J. Rehabil. Res. Dev. 48(4), 287–298 (2011)
Vallery, H., et al.: Multidirectional transparent support for overground gait training. In: 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), Seattle, WA, USA, pp. 1–7 (2013)
Cattin, E., et al.: SENLY: a novel robotic platform for fall risk prevention. In: IEEE International Conference on Robotics and Automation (Workshop Paper) (2010)
Stolle, C.J., Nelson, C.A., Burnfield, J.M., Buster, T.W.: Improved design of a gait rehabilitation robot. In: Husty, M., Hofbaur, M. (eds.) MESROB 2016. MMS, vol. 48, pp. 31–44. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-59972-4_3
Xiong, H., Diao, X.: A review of cable-driven rehabilitation devices. Disabil. Rehabil.: Assist. Technol. 15(8), 885–897 (2020)
Wu, M., Hornby, T.G., Landry, J.M., Roth, H., Schmit, B.D.: A cable-driven locomotor training system for restoration of gait in human SCI. Gait Posture 33, 256–260 (2011)
Gharatappeh, S., Abbasnejad, G., Yoon, J., Lee, H.: Control of cable-driven parallel robot for gait rehabilitation. In: 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Goyang, South Korea, 28–30 October 2015, pp. 377–381 (2015)
Jin, X., Cui, X., Agrawal, S.K.: Design of a cable-driven active leg exoskeleton (C-ALEX) and gait training experiments with human subjects. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, pp. 5578–5583 (2015)
Alamdari, A., Krovi, V.N.: Robotic Physical Exercise and System (ROPES): a cable-driven robotic rehabilitation system for lower-extremity motor therapy. In: 2015 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC-CIE), Paper Number DETC2015-46393 (2015)
Bennour, S., Harshe, M., Romdhane, L., Merlet, J.-P.: A new experimental setup based on a parallel cable robot for analysis and control of human motion. Comput. Methods Biomech. Biomed. Eng. 14(Supplement 1), 83–85 (2011)
Harshe, M., Merlet, J.-P., Daney, D., Bennour, S.: A multi-sensors system for human motion measurement: preliminary setup. In: 13th IFToMM World Congress, Guanajuato, Mexico (2011)
Lamine, H., Romdhane, L., Bennour, S.: Parametric dynamic analysis of walking within a cable-based gait trainer. Robotica 37, 1225–1239 (2019)
Surdilovic, D., Bernhardt, R.: STRING-MAN: a new wire robot for gait rehabilitation. In: 2004 IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, USA, 28–30 April 2004, pp. 2031–2036 (2004)
Khan, M.I.: Trunk rehabilitation using cable-driven robotic systems. PhD dissertation, Columbia University (2019)
Nelson, C.A., Burnfield, J.M., Shu, Y., Buster, T.W., Taylor, A.P., Graham, A.: Modified elliptical machine motor-drive design for assistive gait rehabilitation. ASME J. Med. Devices 5(2), 021001 (2011)
Wang, F., Skubic, M., Abbott, C., Keller, J.M.: 32nd Annual International Conference of the IEEE EMBS, Buenos Aires, Argentina, 31 August–4 September 2010, pp. 2225–2229 (2010)
Acknowledgments
The author appreciates help from Zvonimir Pusnik with creation of figures.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Nelson, C.A. (2022). A Cable-Robot System for Promoting Healthy Postural Stability and Lower-Limb Biomechanics in Gait Rehabilitation. In: Rauter, G., Carbone, G., Cattin, P.C., Zam, A., Pisla, D., Riener, R. (eds) New Trends in Medical and Service Robotics. MESROB 2021. Mechanisms and Machine Science, vol 106. Springer, Cham. https://doi.org/10.1007/978-3-030-76147-9_2
Download citation
DOI: https://doi.org/10.1007/978-3-030-76147-9_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-76146-2
Online ISBN: 978-3-030-76147-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)