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Open AccessArticle

Development of a Dynamic Oriented Rehabilitative Integrated System (DORIS) and Preliminary Tests

MARlab, Neuroscience and Neurorehabilitation Department, Bambino Gesù Children’s Hospital—IRCCS, 00165 Rome, Italy
Elemize Technologies s.r.l., 00153 Rome, Italy
Inglobe Technologies s.r.l., 03023 Ceccano (FR), Italy
Author to whom correspondence should be addressed.
Sensors 2019, 19(15), 3402;
Received: 15 June 2019 / Revised: 17 July 2019 / Accepted: 31 July 2019 / Published: 2 August 2019
(This article belongs to the Special Issue Multi-Sensor-Based Intelligent Systems for Physical Rehabilitation)
Moving platforms were introduced in the field of the study of posturography since the 1970s. Commercial platforms have some limits: a limited number of degrees of freedom, pre-configured protocols, and, usually, they are expensive. In order to overcome these limits, we developed a robotic platform: Dynamic Oriented Rehabilitative Integrated System (DORIS). We aimed at realizing a versatile solution that can be applied both for research purposes but also for personalizing the training of equilibrium and gait. We reached these goals by means of a Stewart platform that was realized with linear actuators and a supporting plate. Each actuator is provided by an ad hoc built monoaxial load cell. Position control allows a large range of movements and load cells measure the reactive force applied by the subject. Transmission Control Protocol/Internet Protocol (TCP/IP) guarantees the communication between the platform and other systems. We integrated DORIS with a motion analysis system, an electromyography (EMG) system, and a virtual reality environment (VR). This integration and the custom design of the platform offer the opportunity to manipulate the available information of the subject under analysis, which uses visual, vestibular, and plantar feet pressure inputs. The full access to the human movements and to the dynamic interaction is a further benefit for the identification of innovative solutions for research and physical rehabilitation purposes in a field that is widely investigated but still open. View Full-Text
Keywords: posturography; stewart platform; rehabilitation posturography; stewart platform; rehabilitation
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Summa, S.; Gori, R.; Freda, L.; Castelli, E.; Petrarca, M. Development of a Dynamic Oriented Rehabilitative Integrated System (DORIS) and Preliminary Tests. Sensors 2019, 19, 3402.

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