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2022 | Buch

Introduction to Robotics for Gait Assistance and Rehabilitation Kapitel lesen Erstes Kapitel lesen

Interfacing Humans and Robots for Gait Assistance and Rehabilitation

verfasst von: Dr. Carlos A. Cifuentes, Dr. Marcela Múnera

Verlag: Springer International Publishing

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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Über dieses Buch

The concepts represented in this textbook are explored for the first time in assistive and rehabilitation robotics, which is the combination of physical, cognitive, and social human-robot interaction to empower gait rehabilitation and assist human mobility. The aim is to consolidate the methodologies, modules, and technologies implemented in lower-limb exoskeletons, smart walkers, and social robots when human gait assistance and rehabilitation are the primary targets.

This book presents the combination of emergent technologies in healthcare applications and robotics science, such as soft robotics, force control, novel sensing methods, brain-computer interfaces, serious games, automatic learning, and motion planning. From the clinical perspective, case studies are presented for testing and evaluating how those robots interact with humans, analyzing acceptance, perception, biomechanics factors, and physiological mechanisms of recovery during the robotic assistance or therapy.

Interfacing Humans and Robots for Gait Assistance and Rehabilitation will enable undergraduate and graduate students of biomedical engineering, rehabilitation engineering, robotics, and health sciences to understand the clinical needs, technology, and science of human-robot interaction behind robotic devices for rehabilitation, and the evidence and implications related to the implementation of those devices in actual therapy and daily life applications.

Inhaltsverzeichnis

Frontmatter
1. Introduction to Robotics for Gait Assistance and Rehabilitation
Abstract
In recent years, society has been growing and aging at accelerated rates. Consequently, it has been of great interest to develop rehabilitation and gait assistance solutions by medical and engineering professionals. Moreover, worldwide statistics report high incidence indicators of neurological and physical impairments, being a public health concern in several countries. In this sense, there are four types of assistive technologies that can be found in the field of rehabilitation engineering, focusing on human mobility: (1) wearable robots, (2) mobile robots, (3) social robots, and (4) combined platforms. Depending on the requirements of each user, these robotic devices aim to compensate, retrain, or provide the affected locomotion capabilities of the individual. This chapter defines these devices and describes their implementation in the context of gait assistance and rehabilitation. Similarly, it provides some evidence of applications in clinical scenarios.
Sergio D. Sierra M., Luis Arciniegas-Mayag, Margarita Bautista, Maria J. Pinto-Bernal, Nathalia Cespedes, Marcela Múnera, Carlos A. Cifuentes
2. Kinematics, Actuation, and Sensing Architectures for Rehabilitation and Assistive Robotics
Abstract
During the design process of rehabilitation robots, it is essential to understand their operation in terms of their component elements, i.e., sensors, actuators, joints, and physical structure. On the one hand, it is necessary to mathematically model these devices to obtain a kinematic description of their spatial behavior. On the other hand, the actuators selected for a robot directly influence its type of locomotion and mechanical behavior. Finally, it is also of great relevance to know the sensory architectures used by each robot. These allow the device to acquire information from itself and the environment. In this sense, this chapter provides essential fundamentals to understand the kinematics of assistive robots such as exoskeletons, social robots, and mobile robots. It also describes the actuators and types of sensors that are commonly implemented.
Sergio D. Sierra M., Luis Arciniegas-Mayag, Orion Ramos, Juan Maldonado, Marcela Múnera, Carlos A. Cifuentes
3. Fundamentals for the Design of Lower-Limb Exoskeletons
Abstract
The development of the lower-limb exoskeleton has been increased over the years, presenting a wide variety of devices that enhance or assist the user. These devices had a design process that followed two principal features that are centered on the user and the device itself. Firstly, the user-centered features are divided into targeted goals focused on the applications and anatomic concepts. Within these features, the user features are described depending on their needs and requirements to perform a specific task. According to these user features, the device-centered features are delimited in terms of two principal groups: mechanical design and actuation and control. The mechanical design of a lower-limb exoskeleton is composed of the device’s structure, joints, and physical interfaces, which comprise key elements and highlight important design considerations. Finally, the actuation and control displayed the classification of actuators and control strategies commonly used in lower-limb exoskeletons. Taking into account the previous user-centered and device-centered features establishes an overall design process for lower-limb exoskeletons.
Felipe Ballen-Moreno, Daniel Gomez-Vargas, Kevin Langlois, Jan Veneman, Carlos A. Cifuentes, Marcela Múnera
4. Fundamentals for the Design of Smart Walkers
Abstract
Multiple assistive robots for walking have been designed. Among these, robotic walkers have emerged as a solution that enhances the capabilities of conventional devices. According to the literature, different robotic walkers have been developed for specific populations and tasks. In this sense, this chapter analyzes some of the most relevant smart walkers in the literature. The most common physical structures and the implemented safety strategies are described. Likewise, the most proper functionalities to provide human–robot interaction in walker-assisted gait are presented. Finally, some typical controllers are given as a basis for their formulation in the following chapters.
Julián Aristizabal-Aristizabal, Rubén Ferro-Rugeles, María Lancheros-Vega, Sergio D. Sierra M., Marcela Múnera, Carlos A. Cifuentes
5. Sensing Methodologies for Gait Parameters Estimation and Control
Abstract
One of the essential aspects of assistive and rehabilitation robots is related to gait evaluation and analysis. In general, multiple sensing technologies are available to acquire gait information. Among these are sensing devices involving inertial sensors, ultrasonic sensors, laser rangefinders, and plantar pressure sensors. From the information provided by these devices, it is possible to calculate spatiotemporal gait parameters such as cadence, speed, step length, among others. It is also possible to detect and characterize the phases of the gait cycle. Accordingly, this chapter presents a description of the most relevant gait indicators and some wearable sensors that allow their acquisition. Finally, there are described two usage scenarios for a lower-limb exoskeleton and a robotic walker. These scenarios describe two methodologies to extract gait parameters from an inertial sensor and a laser rangefinder.
Maria J. Pinto-Bernal, Sergio D. Sierra M., Marcela Múnera, Carlos A. Cifuentes
6. Experimental Characterization of Flexible and Soft Actuators for Rehabilitation and Assistive Devices
Abstract
Robotic devices applied to a rehabilitation context require a deeper understanding of their actuators to delimit the device’s capabilities, improve the control strategies, and enhance the human–robot interaction. This way, experimental characterizations have allowed estimating these aspects, either employing test bench structures or involving the user during the process. In terms of pneumatic actuators, the goal of the experimental characterization is to find the required pressure that generates the full bending and the bending and blocked forces. On the other hand, for variable stiffness actuators, the goal is to measure the system response and the interaction forces concerning the variation in the device setup. In this context, this chapter presents the experimental characterization of two actuators aimed at assistive applications: (1) a variable stiffness ankle exoskeleton and (2) a pneumatic hand exoskeleton. Thus, different test bench structures were developed to integrate the device’s concepts, measure the device’s capabilities, and determine the system responses. Finally, some devices based on soft actuators applied to clinical scenarios are also presented in this chapter.
Daniel Gomez-Vargas, Felipe Ballen-Moreno, Orion Ramos, Marcela Múnera, Carlos A. Cifuentes
7. Variable Stiffness Actuators for Wearable Applications in Gait Rehabilitation
Abstract
Variable stiffness actuators (VSAs) have emerged as a promising actuation principle for devices focused on physical interaction. Specifically, characteristics such as shock load absorbing, passive backdrivability, and variable device performance motivate the use of VSA in a rehabilitation context. Multiple studies have exhibited the advantages of applying VSA in gait assistance, improving the human–robot interaction, and preserving the device in complex interaction applications. This chapter presents an overview of VSAs and their potential applications in gait rehabilitation. The first part explains the VSA concepts, several configurations to accomplish this behavior, and some devices based on this principle. The second part shows the portable and wearable T-FLEX ankle exoskeleton, focusing on its mechanical and electronic design. Lastly, this chapter presents two experimental validations with healthy subjects in gait assistance and stationary therapy scenarios.
Daniel Gomez-Vargas, Diego Casas-Bocanegra, Marcela Múnera, Flavio Roberti, Ricardo Carelli, Carlos A. Cifuentes
8. Impedance Control Strategies for Lower-Limb Exoskeletons
Abstract
In the last decades, researchers have used the physical-Human–Robot-interaction (pHRI) to develop rehabilitation and assistance wearable robots. The control strategies implementation based on impedance control considers the force/torque generated between the user and the wearable robot such as the lower-limb exoskeleton. In this sense, the development of these control strategies comprises the acquisition of different user’s kinetic and kinematic parameters, a processing module, and a mechanical structure to transmit the system response. This chapter presents the control strategies development for gait rehabilitation implemented in the AGoRA lower-limb exoskeleton covered as follows: (1) Human–Robot interaction (HRI) definition; (2) sensory interface to estimate the user’s lower-limb movements; (3) actuation system; (4) impedance controller; and (5) impedance controller case study.
Luis Arciniegas-Mayag, Carlos Rodriguez-Guerrero, Eduardo Rocon, Marcela Múnera, Carlos A. Cifuentes
9. Brain–Computer Interface for Controlling Lower-Limb Exoskeletons
Abstract
Brain–Computer Interfaces (BCI) are emerging tools that integrate the central nervous system in the rehabilitation process to empower recovery. Technologies based on EEG signals acquisition seem to present an enormous potential complementing existing therapies with exoskeletons and improving both neurological patients’ mobility and neuroplasticity. The BCI control strategy implementation in robotic systems to detect lower-limb movement intention is generally based on the motor imagery analysis at the beta frequency band. Considering the above, this chapter presents concepts about BCI modalities and electroencephalography (EEG) signal processing to detect motor imagination. Moreover, it addresses a theoretical framework to describe BCI design principles with lower-limb rehabilitation devices and introduces the BCI integration with an ankle exoskeleton. Finally, a preliminary case study is discussed to present patient response of neural activation and perform a characterization in terms of the accuracy of the BCI system.
Angie Pino, Nicolás Tovar, Patricio Barria, Karim Baleta, Marcela Múnera, Carlos A. Cifuentes
10. Control Strategies for Human–Robot–Environment Interaction in Assisted Gait with Smart Walkers
Abstract
In general, there are three types of communication in walker-assisted gait applications. On the one hand, Human–Robot Interaction refers to the features and strategies of the device that allow it to communicate physically and cognitively with the user. Similarly, Robot–Environment Interaction refers to the device’s operation in a given environment. It also involves the sensors that acquire information from the environment. Finally, Human–Robot–Environment Interaction comprises the device, the user, the environment, and the clinicians in a communication channel that is natural, safe, and efficient. Thus, this chapter presents the necessary fundamentals to understand the control strategies that govern these interaction types. It also provides basic design notions to propose new control strategies for robotic walkers.
Sergio D. Sierra M., Mario F. Jiménez, Anselmo Frizera-Neto, Marcela Múnera, Carlos A. Cifuentes
11. Socially Assistive Robotics for Gait Rehabilitation
Abstract
Gait rehabilitation is a multidisciplinary process that requires the participation and experience of several specialities. Robot-assisted physical rehabilitation, which has a strong component of gait rehabilitation, provides considerable advantages over conventional therapies regarding patient’s motor control, balance, and cardiovascular parameters. However, it is believed that the inclusion of a cognitive approach in these rehabilitation therapies can bring even more benefits to the patients and all other personals involved. Socially Assistive Robotics (SAR) has been used in the last years as a tool to incorporate these cognitive aspects in physical rehabilitation (PR) processes. This chapter explores the basic concepts of social robotics and its role in PR, through the explanation and development of Patient–Robot interfaces. A case study of a robot-assisted PR with Lokomat presents the promising results of including SAR in gait rehabilitation, by improving patient’s motivation, engagement, and overall performance.
Marcela Múnera, Luis F. Aycardi, Nathalia Cespedes, Jonathan Casas, Carlos A. Cifuentes
12. Serious Games in Robot-Assisted Rehabilitation Therapy for Neurological Patients
Abstract
Robot-assisted rehabilitation has been shown to effectively improve the sequelae and restore function for neurological patients. However, repetitive exercise in long-term therapy may cause a lack of interest and demotivation decreasing the therapy success. Serious games in the rehabilitation field have emerged as a promising approach by including an entertainment component during cognitive and motor skill learning. These interactive strategies improve the user–device interaction generating an active commitment during the therapy and contributing to the neuroplasticity induction. Well-designed game mechanics and audiovisual feedback strategies are relevant to provide a pleasant experience and augment patient engagement and adherence. In this sense, this chapter defines serious games and describes the design principles for their implementation in assistance therapy. Besides, it provides evidence about in-game strategies in lower-limb rehabilitation and introduces a serious game prototype for ankle rehabilitation after stroke with a variable stiffness exoskeleton.
Angie Pino, Marcela Múnera, Carlos A. Cifuentes
13. Assessment of Robotic Devices for Gait Assistance and Rehabilitation
Abstract
Robotic devices for gait assistance and rehabilitation have gained increased attention over the last years in developments in both research and industry. As these technologies spread around the world, standard ways to assess their performance become a necessity to accurately prescribe and treat patients. Even though efforts have been made to harmonize these assessments, they include many possible variables and many disciplines that complicate the process. This contribution takes over the recent attempts to constitute a benchmark for bipedal locomotion and presents the key concepts to correctly assess robotic devices for gait assistance and rehabilitation. The first part of the contribution focuses on the definition of the basic terminology to understand the area, including the concepts of motor skill, abilities, and performance. The motor skills are then classified to understand the possible variables to consider when assessing the performance of the devices, which is very challenging due to the intrinsic interaction with the subjects. The performance indicators used in the field are presented and linked to the equipment and sensors commonly chosen to measure them, with concrete examples of the technologies implemented in significant research contributions.
Luis F. Aycardi, Felipe Ballen-Moreno, David Pinto-Fernández, Diego Torricelli, Carlos A. Cifuentes, Marcela Múnera
14. Experiences of Clinicians Using Rehabilitation Robotics
Abstract
Currently, many useful robotic devices have been used in daily therapeutic life. These assistive and social robots are widely explored in different areas and scenarios, which have allowed physical or cognitive interaction with patients. Likewise, social robots have been recently implemented as a tool to improve the procedure’s quality and support patients to boost their performance. However, to achieve these goals, it is important to understand how users, namely patients and clinicians who mostly know the needs and the therapy environment, perceive this technology. In this context, this chapter focuses on assessing the clinician’s and patient’s experience, acceptability, and perception using robotic platforms in a clinical setup. Several metrics are used to assess this perception and the critical components from a clinical view to ensure adaptation to the technology. Some of these tools are presented in this chapter, and three cases where these tools were used in different moments of the research process.
Marcela Múnera, Maria J. Pinto-Bernal, Nathalie Zwickl, Angel Gil-Agudo, Patricio Barria, Carlos A. Cifuentes
Backmatter
Metadaten
Titel
Interfacing Humans and Robots for Gait Assistance and Rehabilitation
verfasst von
Dr. Carlos A. Cifuentes
Dr. Marcela Múnera
Copyright-Jahr
2022
Electronic ISBN
978-3-030-79630-3
Print ISBN
978-3-030-79629-7
DOI
https://doi.org/10.1007/978-3-030-79630-3

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