Neurological disorders like stroke are one of the main causes of motor dysfunction and gait function disabilities in humans. These disorders impact the mobility of patients often leading to weakened and impaired ankle joints which further compromise...
Conventional ankle rehabilitation exercises can be monotonous and repetitive. The use of robots and games can complement the existing practices, provide an engaging environment for the patient and alleviate the physiotherapist’s workload. This paper...
The simple act of walking can occasionally cause ankle sprains. Traditionally, the rehabilitation of a sprained ankle involves physical therapy. Physical therapy is one of the health professions that help regain mobility through manual exercises. Aqu...
Existing ankle rehabilitation robots are large, difficult to move, and mostly designed for seated use, which cannot meet the early bedridden rehabilitation goals of stroke patients. To address these issues, a supine ankle rehabilitation robot (S-ARR)...
The ankle joint (AJ) is a crucial joint in daily life, responsible for providing stability, mobility, and support to the lower limbs during routine activities such as walking, jumping, and running. Ankle joint injuries can occur due to sudden twists...
Generally, severity, any additional damage to the joint surface, and the optimal rehabilitation influence the recovery of an ankle injury. Optimal rehabilitation is the only approach for a human to heal as soon as possible. Ankle injury rehabilitatio...
A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are...
The traditional systems used in the physiotherapy rehabilitation process are evolving towards more advanced systems that use virtual reality (VR) environments so that the patient in the rehabilitation process can perform various exercises in an inter...
This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom,...
Continuous passive motion (CPM) machines are used in the rehabilitation of members that have been injured to recover their range of motion and prevent stiffness. Nowadays, some CPM machines for the knee, ankle, arm, and elbow are available commercial...
This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight le...
A critical requirement for rehabilitation robots is achieving high transparency in user interaction to minimize interference when assistance is unnecessary. Cable-driven systems are a compelling alternative to rigid-link robots due to their lighter w...
The design of a new exoskeleton is presented based on four electric linear actuators for the flexion motion range of the ankle of a user. The exoskeleton system is designed to be easy to operate and fairly inexpensive so that it can be used as a tool...
The ankle is a crucial joint that supports the human body weight. An ankle sprain will adversely affect the patient’s daily life, so it is of great significance to ensure its strength. To help patients with ankle dysfunction to carry out effect...
Lower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current...
As one of the most commonly injured joints of the human body, the ankle is often subject to sprains or fractures that require motion assistance to recover mobility. Whereas physiotherapists usually perform rehabilitation in one-on-one sessions with p...
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we stud...
After equinus corrective surgery, repetitive exercises for ankle dorsiflexion and plantar flexion are crucial during rehabilitation. The single-joint Hybrid Assistive Limb (HAL-SJ) is an advanced exoskeletal robotic device with a control system that...
Foot and ankle disabilities (foot drop) due to common peroneal nerve palsy and stroke negatively affect patients’ ambulation and activities of daily living. We developed a novel robotics ankle hybrid assistive limb (HAL) for patients with foot...
4 January 2023
A novel and fun exercise robot (LOCOBOT) was developed to improve balance ability. This system can control a spherical robot on a floor by changing the center of pressure (COP) based on weight-shifting on a board. The present study evaluated leg musc...
Despite rapid growth in the body of research on ankle exoskeletons, we have so far not seen their massive adoption in clinical rehabilitation. We foresee that an ankle exo best suited to rehabilitation use should possess the power generation capabili...
With the recent development of a digital rehabilitation system, research on the rehabilitation of amputees is accelerating. However, research on rehabilitation systems for patients with amputation of the lower extremities is insufficient. For the reh...
Peripheral nerve disorder of the lower extremities causes drop foot and disturbs the daily living activities of patients. The ankle joint hybrid assistive limb (HAL) provides voluntary ankle joint training using surface bioelectrical signals from the...
During the last ten years the use of robotic-assisted rehabilitation has increased significantly. Compared with traditional care, robotic rehabilitation has several potential advantages. Platform-based robotic rehabilitation can help patients recover...
Recent developments in robotic technologies in the field of orthopaedic surgery have largely been focused on higher volume arthroplasty procedures, with a paucity of attention paid to robotic potential for foot and ankle surgery. The aim of this pape...
Ankle injuries are among the most common injuries in sport and daily life. However, for their recovery, it is important for patients to perform rehabilitation exercises. These exercises are usually done with a therapist’s guidance to help stren...
The purpose of this article is to establish a prediction model of joint movements and realize the prediction of joint movemenst, and the research results are of reference value for the development of the rehabilitation equipment. This will be carried...
To help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function, this study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot. The a...
An ankle sprain can be caused by daily activities such as running, walking, or playing sports. In many cases, the patient’s ankle suffers severe or permanent damage that requires rehabilitation to return to its initial state. Thanks to technolo...
Due to the increasing number of people requiring rehabilitation and an aging society, the need to streamline, improve, and, above all, increase the availability of rehabilitation has been identified. In the present study, research was conducted to ev...
In rehabilitation research, coarse clinical outcome measures may limit the sensitivity of trials by failing to detect meaningful intervention-induced changes. Sensorized robotic platforms can potentially improve the evaluation of motor function, yet...
The paper presents an innovative virtual reality (VR)-based environment for personalized telerehabilitation programs. This environment integrates a parallel robotic structure designed for the lower limb rehabilitation of patients with neuromotor disa...
Most lower limb rehabilitation robots are limited to specific training postures to adapt to stroke patients in multiple stages of recovery. In addition, there is a lack of attention to the switching functions of the training side, including left, rig...
This paper deals with the control of the sit-to-stand transfer of a biped robotic device (either an autonomous biped robot or a haptic assistive exoskeleton for postural rehabilitation). The control has been synthesized, instead of considering the ph...
Stroke disease leads to a partial or complete disability affecting muscle strength and functional mobility. Early rehabilitation sessions might induce neuroplasticity and restore the affected function or structure of the patients. Robotic rehabilitat...
Children with cerebral palsy (CP) have sensorimotor impairments including weakness, spasticity, reduced motor control and sensory deficits. Proprioceptive dysfunction compounds the decreased motor control and mobility. The aims of this paper were to...
Powered ankle exoskeletons have become efficient ability-enhancing and rehabilitation tools that support human body movements. Traditionally, the control schemes for ankle exoskeletons were implemented relying on precise physical and kinematic models...
The exoskeleton is often regarded as a tool for rehabilitation and assistance of human movement. The control schemes were conventionally implemented by developing accurate physical and kinematic models, which often lack robustness to external variati...
Cerebral palsy is the leading cause of motor disability in early childhood, with no curative treatment currently available. To mitigate its effects and promote motor rehabilitation, robotic-assisted therapies have emerged as a complement to conventio...
Stroke, amyotrophic lateral sclerosis (ALS), and Parkinson’s disease are some of the conditions that can lead to neuromotor disabilities requiring rehabilitation. To address the socio-economic burden that is amplified by the rapidly increasing...
This study presents the clinical trial readiness and optimization of a parallel robotic system developed for early-stage lower limb rehabilitation of bedridden patients using feedback from healthy users and clinicians. The system combines a parallel...
To meet the various need of stroke patients’ rehabilitation training and carry out complex task training in real scenes, the structure of a lower limb rehabilitation robot with movements in the sagittal plane and coronal plane is usually compli...
Shape memory alloys (SMAs) have found widespread applications as biomedical devices. Biocompatibility, corrosion resistance, and ductility make these alloys attractive for medical devices such as stents and filters. For these implants, the superelast...
Today, there is a high demand for remote rehabilitation using mobile robotic complexes all over the world. They offer a wide range of options for convenient and effective therapy at home to patients and the elderly, especially those bedridden after m...
Robotic-assisted rehabilitation is currently being applied to improve the effectiveness of human gait rehabilitation and recover the mobility and strength after a stroke or spinal cord injury; a robotic assistant can allow the active participation of...
A lower-limb exoskeleton robot identifies the wearer′s walking intention and assists the walking movement through mechanical force; thus, it is important to be able to identify the wearer′s movement in real-time. Measurement of the angle of the knee...
Current gait rehabilitation strategies rely heavily on motor learning principles, which involve facilitating active patient participation, high-doses of biomechanical task-related motor activities and accurate feedback. Furthermore, appropriate muscl...
Ankle–foot orthoses (AFOs) constitute medical instruments designed for patients exhibiting pathological gait patterns, notably stemming from conditions such as stroke, with the primary objective of providing support and facilitating rehabilitat...
The coordination of joint moments in the same limb—otherwise known as kinetic interjoint coordination—during gait in patients with hemiparesis remains unclear. This study clarifies the characteristics of kinetic interjoint coordination in...
This paper presents a novel ankle rehabilitation (2-CRS+PU)&R hybrid mechanism, which can meet the size requirements of different adult lower limbs based on the three-movement model of the ankle. This model is related to three types of movement m...
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