TY - GEN
T1 - Development of High-Dorsiflexion Assistive Robotic Technology for Gait Rehabilitation
AU - Hong, Jing Chen
AU - Suzuki, Shigeru
AU - Fukushima, Yuta
AU - Yasuda, Kazuhiro
AU - Ohashi, Hiroki
AU - Iwata, Hiroyasu
N1 - Funding Information:
ACKNOWLEDGMENT The present study was supported by JSPS KAKENHI Grant number JP26289028 and Waseda University. The authors are also grateful for Akiba Hospital, Neurosurgery Higashi Yokohama Hosipital and all the test participants of our experiments.
Publisher Copyright:
© 2018 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019/1/16
Y1 - 2019/1/16
N2 - Active ankle dorsiflexion in swing phase to ensure foot clearance, and resistive dorsiflexion for heel rocker function to prevent foot slap are important for a normal human gait. Stroke patients with hemiplegia have motor deficiency in their paralyzed side, and thus could not voluntarily generate enough dorsiflexion force. In this paper, we present our design of a light-weighted high dorsiflexion supportive robotic technology. It supports swing phase dorsiflexion with a McKibben-type artificial muscle, and supports heel rocker function with a tension spring. A pilot clinical trial shows the immediate improvement of dorsiflexion in swing phase by supporting high dorsiflexion angle in intervention, and the other pilot clinical trial shows the effects of heel rocker function support with lessened angular velocity of ankle plantarflexion and knee flexion.
AB - Active ankle dorsiflexion in swing phase to ensure foot clearance, and resistive dorsiflexion for heel rocker function to prevent foot slap are important for a normal human gait. Stroke patients with hemiplegia have motor deficiency in their paralyzed side, and thus could not voluntarily generate enough dorsiflexion force. In this paper, we present our design of a light-weighted high dorsiflexion supportive robotic technology. It supports swing phase dorsiflexion with a McKibben-type artificial muscle, and supports heel rocker function with a tension spring. A pilot clinical trial shows the immediate improvement of dorsiflexion in swing phase by supporting high dorsiflexion angle in intervention, and the other pilot clinical trial shows the effects of heel rocker function support with lessened angular velocity of ankle plantarflexion and knee flexion.
KW - ankle-foot orthosis
KW - dorsiflexion
KW - gait
KW - heel rocker
KW - hemiplegia
KW - rehabilitation robot
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U2 - 10.1109/SMC.2018.00643
DO - 10.1109/SMC.2018.00643
M3 - Conference contribution
AN - SCOPUS:85062222422
T3 - Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
SP - 3801
EP - 3806
BT - Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
Y2 - 7 October 2018 through 10 October 2018
ER -