Motor rehabilitation techniques based on passive movement of the lower limbs have been developed over the past 15 years. Gait training automation is the latest innovation in these techniques. This paper describes the design and development of a pneumatic interactive gait rehabilitation orthosis (PIGRO), as well as the first experimental results obtained with healthy subjects. PIGRO consists of a modular and size-adaptable exoskeleton, pneumatic actuation systems for the six actuated degrees of freedom (DoF), and a control unit. The foot orthosis and ankle actuation can be removed and/or replaced with orthopaedic shoes so as to permit gait rehabilitation while advancing between parallel bars with ground contact and partial body weight support (i.e. not walking in place). Control logic provides closed-loop position control independently on each joint, with position feedback for each joint in real time. Imposed curves are physiological joint angles: it is also possible to choose between activating one or both legs and to modify curves to obtain different gait patterns if required. The paper concludes with a presentation of experimental results for the device’s performance.

Pneumatic Interactive Gait Rehabilitation Orthosis: design and preliminary testing / Belforte, Guido; Appendino, Silvia; Eula, Gabriella; Sirolli, SILVIA ALESSANDRA. - In: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS. PART H, JOURNAL OF ENGINEERING IN MEDICINE. - ISSN 0954-4119. - ELETTRONICO. - 225:2(2011), pp. 158-169. [10.1243/09544119JEIM803]

Pneumatic Interactive Gait Rehabilitation Orthosis: design and preliminary testing

BELFORTE, GUIDO;APPENDINO, Silvia;EULA, Gabriella;SIROLLI, SILVIA ALESSANDRA
2011

Abstract

Motor rehabilitation techniques based on passive movement of the lower limbs have been developed over the past 15 years. Gait training automation is the latest innovation in these techniques. This paper describes the design and development of a pneumatic interactive gait rehabilitation orthosis (PIGRO), as well as the first experimental results obtained with healthy subjects. PIGRO consists of a modular and size-adaptable exoskeleton, pneumatic actuation systems for the six actuated degrees of freedom (DoF), and a control unit. The foot orthosis and ankle actuation can be removed and/or replaced with orthopaedic shoes so as to permit gait rehabilitation while advancing between parallel bars with ground contact and partial body weight support (i.e. not walking in place). Control logic provides closed-loop position control independently on each joint, with position feedback for each joint in real time. Imposed curves are physiological joint angles: it is also possible to choose between activating one or both legs and to modify curves to obtain different gait patterns if required. The paper concludes with a presentation of experimental results for the device’s performance.
File in questo prodotto:
File Dimensione Formato  
Eula1.pdf

non disponibili

Descrizione: articolo principale
Tipologia: 2. Post-print / Author's Accepted Manuscript
Licenza: Non Pubblico - Accesso privato/ristretto
Dimensione 579.79 kB
Formato Adobe PDF
579.79 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2303865
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo