Advertisement
Published in:
2019 | OriginalPaper | Chapter
An Integrated Robotic Mobile Platform and Functional Electrical Stimulation System for Gait Rehabilitation Post-Stroke
Authors : Gabriel Aguirre-Ollinger, Ashwin Narayan, Francisco Anaya Reyes, Hsiao-Ju Cheng, Haoyong Yu
Published in: Converging Clinical and Engineering Research on Neurorehabilitation III
Publisher: Springer International Publishing
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
Abstract
We present a novel mobile robotic platform for overground gait rehabilitation post-stroke. In addition to its primary role in preventing falls, our device combines two therapeutic interventions: assistance or resistance along the patient’s direction of walking, and partial body weight support. The robotic therapy is complemented by functional electrical stimulation (FES) to stimulate the ankle dorsiflexors during swing phase. Real-time gait event detection using inertial measurement units is performed in order to drive the FES. We discuss the design of the robotic platform and its control methods, and also present preliminary results from an experimental study involving stroke patients receiving gait training with our robotic system.