Cargando…

A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking

In this paper, we present a soft-inflatable exosuit to assist knee extension during gait training for stroke rehabilitation. The soft exosuit is designed to provide 25% of the knee moment required during the swing phase of the gait cycle and is integrated with inertial measurement units (IMUs) and s...

Descripción completa

Detalles Bibliográficos
Autores principales: Sridar, Saivimal, Qiao, Zhi, Muthukrishnan, Niveditha, Zhang, Wenlong, Polygerinos, Panagiotis
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805964/
https://www.ncbi.nlm.nih.gov/pubmed/33500930
http://dx.doi.org/10.3389/frobt.2018.00044
_version_ 1783636423385022464
author Sridar, Saivimal
Qiao, Zhi
Muthukrishnan, Niveditha
Zhang, Wenlong
Polygerinos, Panagiotis
author_facet Sridar, Saivimal
Qiao, Zhi
Muthukrishnan, Niveditha
Zhang, Wenlong
Polygerinos, Panagiotis
author_sort Sridar, Saivimal
collection PubMed
description In this paper, we present a soft-inflatable exosuit to assist knee extension during gait training for stroke rehabilitation. The soft exosuit is designed to provide 25% of the knee moment required during the swing phase of the gait cycle and is integrated with inertial measurement units (IMUs) and smart shoe insole sensors to improve gait phase detection and controller design. The stiffness of the knee joint during level walking is computed using inverse dynamics. The soft-inflatable actuators, with an I cross-section, are mechanically characterized at varying angles to enable generation of the required stiffness outputs. A linear relation between the inflatable actuator stiffness and internal pressure as a function of the knee angle is obtained, and a two-layer stiffness controller is implemented to assist the knee joint by providing appropriate stiffness during the swing phase. Finally, to evaluate the ability of the exosuit to assist in swing motion, surface-electromyography (sEMG) sensors are placed on the three muscle groups of the quadriceps and two groups of the hamstrings, on three healthy participants. A reduction in muscle activity of the rectus femoris, vastus lateralis, and vastus medialis is observed, which demonstrates feasibility of operation and potential future usage of the soft inflatable exosuit by impaired users.
format Online
Article
Text
id pubmed-7805964
institution National Center for Biotechnology Information
language English
publishDate 2018
publisher Frontiers Media S.A.
record_format MEDLINE/PubMed
spelling pubmed-78059642021-01-25 A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking Sridar, Saivimal Qiao, Zhi Muthukrishnan, Niveditha Zhang, Wenlong Polygerinos, Panagiotis Front Robot AI Robotics and AI In this paper, we present a soft-inflatable exosuit to assist knee extension during gait training for stroke rehabilitation. The soft exosuit is designed to provide 25% of the knee moment required during the swing phase of the gait cycle and is integrated with inertial measurement units (IMUs) and smart shoe insole sensors to improve gait phase detection and controller design. The stiffness of the knee joint during level walking is computed using inverse dynamics. The soft-inflatable actuators, with an I cross-section, are mechanically characterized at varying angles to enable generation of the required stiffness outputs. A linear relation between the inflatable actuator stiffness and internal pressure as a function of the knee angle is obtained, and a two-layer stiffness controller is implemented to assist the knee joint by providing appropriate stiffness during the swing phase. Finally, to evaluate the ability of the exosuit to assist in swing motion, surface-electromyography (sEMG) sensors are placed on the three muscle groups of the quadriceps and two groups of the hamstrings, on three healthy participants. A reduction in muscle activity of the rectus femoris, vastus lateralis, and vastus medialis is observed, which demonstrates feasibility of operation and potential future usage of the soft inflatable exosuit by impaired users. Frontiers Media S.A. 2018-05-17 /pmc/articles/PMC7805964/ /pubmed/33500930 http://dx.doi.org/10.3389/frobt.2018.00044 Text en Copyright © 2018 Sridar, Qiao, Muthukrishnan, Zhang and Polygerinos http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Sridar, Saivimal
Qiao, Zhi
Muthukrishnan, Niveditha
Zhang, Wenlong
Polygerinos, Panagiotis
A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking
title A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking
title_full A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking
title_fullStr A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking
title_full_unstemmed A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking
title_short A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking
title_sort soft-inflatable exosuit for knee rehabilitation: assisting swing phase during walking
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805964/
https://www.ncbi.nlm.nih.gov/pubmed/33500930
http://dx.doi.org/10.3389/frobt.2018.00044
work_keys_str_mv AT sridarsaivimal asoftinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT qiaozhi asoftinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT muthukrishnanniveditha asoftinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT zhangwenlong asoftinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT polygerinospanagiotis asoftinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT sridarsaivimal softinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT qiaozhi softinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT muthukrishnanniveditha softinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT zhangwenlong softinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking
AT polygerinospanagiotis softinflatableexosuitforkneerehabilitationassistingswingphaseduringwalking