The Experts below are selected from a list of 108 Experts worldwide ranked by ideXlab platform

Paolo Bonato - One of the best experts on this subject based on the ideXlab platform.

  • EMBC - Design of a Gait Training device for control of pelvic obliquity
    Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and, 2012
    Co-Authors: Maciej Pietrusinski, Giacomo Severini, Iahn Cajigas, Constantinos Mavroidis, Paolo Bonato
    Abstract:

    This paper presents the design and testing of a novel device for the control of pelvic obliquity during gait. The device, called the Robotic Gait Rehabilitation (RGR) Trainer, consists of a single actuator system designed to target secondary gait deviations, such as Hip-hiking, affecting the movement of the pelvis. Secondary gait deviations affecting the pelvis are generated in response to primary gait deviations (e.g. limited knee flexion during the swing phase) in stroke survivors and contribute to the overall asymmetrical gait pattern often observed in these patients. The proposed device generates a force field able to affect the obliquity of the pelvis (i.e. the rotation of the pelvis around the anteroposterior axis) by using an impedance controlled single linear actuator acting on a Hip Orthosis. Tests showed that the RGR Trainer is able to induce changes in pelvic obliquity trajectories (Hip-hiking) in healthy subjects. These results suggest that the RGR Trainer is suitable to test the hypothesis that has motivated our efforts toward developing the system, namely that addressing both primary and secondary gait deviations during robotic-assisted gait training may help promote a physiologically-sound gait behavior more effectively than when only primary deviations are addressed.

  • Design of a Gait Training device for control of pelvic obliquity
    2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012
    Co-Authors: Maciej Pietrusinski, Giacomo Severini, Iahn Cajigas, Constantinos Mavroidis, Paolo Bonato
    Abstract:

    This paper presents the design and testing of a novel device for the control of pelvic obliquity during gait. The device, called the Robotic Gait Rehabilitation (RGR) Trainer, consists of a single actuator system designed to target secondary gait deviations, such as Hip-hiking, affecting the movement of the pelvis. Secondary gait deviations affecting the pelvis are generated in response to primary gait deviations (e.g. limited knee flexion during the swing phase) in stroke survivors and contribute to the overall asymmetrical gait pattern often observed in these patients. The proposed device generates a force field able to affect the obliquity of the pelvis (i.e. the rotation of the pelvis around the anteroposterior axis) by using an impedance controlled single linear actuator acting on a Hip Orthosis. Tests showed that the RGR Trainer is able to induce changes in pelvic obliquity trajectories (Hip-hiking) in healthy subjects. These results suggest that the RGR Trainer is suitable to test the hypothesis that has motivated our efforts toward developing the system, namely that addressing both primary and secondary gait deviations during robotic-assisted gait training may help promote a physiologically-sound gait behavior more effectively than when only primary deviations are addressed.

Marcos Pinotti - One of the best experts on this subject based on the ideXlab platform.

  • Hip Orthosis powered by pneumatic artificial muscle voluntary activation in absence of myoelectrical signal
    Artificial Organs, 2008
    Co-Authors: Breno Gontijo Do Nascimento, Claysson Bruno Santos Vimieiro, Danilo Alves Pinto Nagem, Marcos Pinotti
    Abstract:

    :  Powered Orthosis is a special class of gait assist device that employs a mechanical or electromechanical actuator to enhance movement of Hip, knee, or ankle articulations. Pneumatic artificial muscle (PAM) has been suggested as a pneumatic actuator because its performance is similar to biological muscle. The electromyography (EMG) signal interpretation is the most popular and simplest method to establish the patient voluntary control of the Orthosis. However, this technique is not suitable for patients presenting neurological lesions causing absence or very low quality of EMG signal. For those cases, an alternative control strategy should be provided. The aim of the present study is to develop a gait assistance Orthosis for lower limb powered by PAMs controlled by a voluntary activation method based on the angular behavior of Hip joint. In the present study, an Orthosis that has been molded in a patient was employed and, by taking her anthropometric parameters and movement constraints, the adaptation of the existing Orthosis to the powered Orthosis was planned. A control system was devised allowing voluntary control of a powered Orthosis suitable for patients presenting neurological lesions causing absence or very low quality of EMG signal. A pilot clinical study was reported where a patient, victim of poliovirus, successfully tested a Hip Orthosis especially modified for the gait test evaluation in the parallel bar system. The Hip Orthosis design and the control circuitry parameters were able to be set to provide satisfactory and comfortable use of the Orthosis during the gait cycle.

  • development of a Hip Orthosis using pneumatic artificial muscles
    2005
    Co-Authors: Claysson Bruno Santos Vimieiro, Danilo Alves, Pinto Nagem, Marcos Pinotti
    Abstract:

    Different types of neurological injuries affect the patient walking ability. Rehabilitation Engineering provides equipment and devices to aid these patients to recover the movements or to improve their quality of life. The aim of the present study was to develop an equipment to assist the lower limb mo vements when a physical deficiency is installed. It was designed an exoskeleton, which consists of a Hip Orthosis equipp ed with pneumatic artificial muscles. The Orthosis was molded for a patient who had motor deficit resultant of Poliom ielitis. The kinematics and dynamics of the Hip and the lower limb was studied to determine the force produced by the artificial muscles in the initial and final positions of the patient's lower limb during the gait. A control syste m for the pneumatic muscle using the remaining myoelectrics signal of the patient's muscle was developed. Thi s signal was obtained by two electrodes and modulated to make the pneumatic muscle control. The exoskeleton reported here has proved to be able of assisting the Hip flexion movement

Maciej Pietrusinski - One of the best experts on this subject based on the ideXlab platform.

  • EMBC - Design of a Gait Training device for control of pelvic obliquity
    Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and, 2012
    Co-Authors: Maciej Pietrusinski, Giacomo Severini, Iahn Cajigas, Constantinos Mavroidis, Paolo Bonato
    Abstract:

    This paper presents the design and testing of a novel device for the control of pelvic obliquity during gait. The device, called the Robotic Gait Rehabilitation (RGR) Trainer, consists of a single actuator system designed to target secondary gait deviations, such as Hip-hiking, affecting the movement of the pelvis. Secondary gait deviations affecting the pelvis are generated in response to primary gait deviations (e.g. limited knee flexion during the swing phase) in stroke survivors and contribute to the overall asymmetrical gait pattern often observed in these patients. The proposed device generates a force field able to affect the obliquity of the pelvis (i.e. the rotation of the pelvis around the anteroposterior axis) by using an impedance controlled single linear actuator acting on a Hip Orthosis. Tests showed that the RGR Trainer is able to induce changes in pelvic obliquity trajectories (Hip-hiking) in healthy subjects. These results suggest that the RGR Trainer is suitable to test the hypothesis that has motivated our efforts toward developing the system, namely that addressing both primary and secondary gait deviations during robotic-assisted gait training may help promote a physiologically-sound gait behavior more effectively than when only primary deviations are addressed.

  • Design of a Gait Training device for control of pelvic obliquity
    2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012
    Co-Authors: Maciej Pietrusinski, Giacomo Severini, Iahn Cajigas, Constantinos Mavroidis, Paolo Bonato
    Abstract:

    This paper presents the design and testing of a novel device for the control of pelvic obliquity during gait. The device, called the Robotic Gait Rehabilitation (RGR) Trainer, consists of a single actuator system designed to target secondary gait deviations, such as Hip-hiking, affecting the movement of the pelvis. Secondary gait deviations affecting the pelvis are generated in response to primary gait deviations (e.g. limited knee flexion during the swing phase) in stroke survivors and contribute to the overall asymmetrical gait pattern often observed in these patients. The proposed device generates a force field able to affect the obliquity of the pelvis (i.e. the rotation of the pelvis around the anteroposterior axis) by using an impedance controlled single linear actuator acting on a Hip Orthosis. Tests showed that the RGR Trainer is able to induce changes in pelvic obliquity trajectories (Hip-hiking) in healthy subjects. These results suggest that the RGR Trainer is suitable to test the hypothesis that has motivated our efforts toward developing the system, namely that addressing both primary and secondary gait deviations during robotic-assisted gait training may help promote a physiologically-sound gait behavior more effectively than when only primary deviations are addressed.

Mohammad Ebrahim Mousavi - One of the best experts on this subject based on the ideXlab platform.

  • influence of orthotic gait training with powered Hip Orthosis on walking in paraplegic patients
    Disability and Rehabilitation: Assistive Technology, 2014
    Co-Authors: Mokhtar Arazpour, Stephen W Hutchins, Monireh Ahmadi Bani, Sarah Curran, Mohammad Ali Javanshir, Mohammad Ebrahim Mousavi
    Abstract:

    AbstractObjectives: Gait training has been shown to improve the walking performance of spinal cord-injured (SCI) patients. The use of powered Hip orthoses (PHO) during gait training is one approach which could potentially improve rehabilitative outcomes for such subjects. The aim of this study was therefore to evaluate the influence of a PHO on the kinematics and temporal–spatial parameters of walking by SCI patients. Methods: Four SCI patients participated in this study. Gait evaluation was performed at baseline and at 10 weeks following intervention with the use of a PHO and gait re-training. Walking speed, step length, vertical and horizontal compensatory motions and Hip joint kinematics were analysed prior to and following the training regime. Results: Significant increases in walking speed and step length were demonstrated by the SCI patients when walking with the PHO following orthotic gait training. Sagittal plane Hip range of motion also increased, but not significantly. However, vertical and hori...

  • evaluation of a novel powered Hip Orthosis for walking by a spinal cord injury patient a single case study
    Prosthetics and Orthotics International, 2012
    Co-Authors: Mokhtar Arazpour, Ahmad Chitsazan, Stephen W Hutchins, Farhad Tabatabai Ghomshe, Mohammad Ebrahim Mousavi, Esmaeil Ebrahimi Takamjani, Gholamreza Aminian, Mehdi Rahgozar, Monireh Ahmadi Bani
    Abstract:

    BACKGROUND: The aim of this case study was to identify the effect of a powered Hip Orthosis on the kinematics and temporal-spatial parameters of walking by a patient with spinal cord injury (SCI). CASE DESCRIPTION AND METHODS: Two orthoses were evaluated while worn by an incomplete SCI subject with a T-8level of injury. Gait evaluation was performed when walking with an Isocentric Reciprocating Gait Orthosis (IRGO) and compared to that demonstrated by a newly powered version of the Orthosis; based on the IRGO superstructure but incorporating powered Hip joints using an electrically motorized actuator that produced active Hip joint extension and flexion. FINDINGS AND OUTCOMES: The powered Hip Orthosis, when compared to the IRGO, increased the speed of walking, the step length and also the cadence demonstrated by this subject. Vertical and horizontal compensatory motions with new Orthosis decreased. Hip angles when walking with this Orthosis were comparative to those demonstrated by normal walking patterns. CONCLUSIONS: The Hip actuator produced positive effects on the kinematics and temporal-spatial parameters of gait during level-ground walking trials, resulting in an alternative approach to walking by SCI patients.

Jeremy Olivier - One of the best experts on this subject based on the ideXlab platform.

  • RAAD - Influence of an Assistive Hip Orthosis on Gait
    Advances in Intelligent Systems and Computing, 2016
    Co-Authors: Jeremy Olivier, Mohamed Bouri, A Ortlieb, Hannes Bleuler
    Abstract:

    Powered orthoses are leading to an imminent change in the field of assistance. The major challenges faced by the technology concern the management of the interaction between the user and the wearable device and the coordination between the user intention and the actuated motion. In the present study, we used the HiBSO (Hip Ball-Screw Orthosis) to investigate the contribution of an assistance to the Hip flexion/extension motion during walking. Four healthy subjects wearing the HiBSO performed a controlled walking at 3.6 km/h on a treadmill. Three conditions were evaluated: free walking (without Orthosis), a transparent mode (Orthosis providing no assistance) and an assistive mode (Orthosis assisting 10% of walking torque). Kinematics tracking and heart rate recording have been used for the assessment of the assistance. The observations exhibited a clear influence of the assistance on the Hip flexion velocity during the swing phase. The ranges of motion of the Hip and the knee tend to increase in the assistive mode whereas the ankle range of motion is reduced. Thus the assistance of the Hip has a global influence on all the joints. The heart rate acquisitions demonstrated a higher energy expenditure while wearing the Orthosis in both transparent and assistive mode.

  • a double differential actuation for an assistive Hip Orthosis specificities and implementation
    Special Session on Wearable Robotics for Motion Assistance and Rehabilitation, 2016
    Co-Authors: Jeremy Olivier, Mohamed Bouri, Hannes Bleuler
    Abstract:

    The population ageing implies an increasing need for support especially in terms of mobility. Actuated orthoses offer new possibilities to assist walking by compensating the diminished muscular force which occurs with age. In order to assist efficiently the user, the orthotic device needs to provide torque without constraining the voluntary movements. Transparency is therefore a critical characteristic. A first implementation of such a device using a conventional actuation is presented and its limitations are analyzed. The walking trajectory being a cyclic movement, the actuator often needs to accelerate and decelerate. Its dynamics is therefore crucial and can be problematic at the higher cadences. Dual-differential actuation is therefore presented as a profitable alternative to overcome these weaknesses.

  • influence of an assistive Hip Orthosis on gait
    25th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), 2016
    Co-Authors: Jeremy Olivier, Mohamed Bouri, A Ortlieb, Hannes Bleuler
    Abstract:

    Powered orthoses are leading to an imminent change in the field of assistance. The major challenges faced by the technology concern the management of the interaction between the user and the wearable device and the coordination between the user intention and the actuated motion. In the present study, we used the HiBSO (Hip Ball-Screw Orthosis) to investigate the contribution of an assistance to the Hip flexion/extension motion during walking. Four healthy subjects wearing the HiBSO performed a controlled walking at 3.6 km/h on a treadmill. Three conditions were evaluated: free walking (without Orthosis), a transparent mode (Orthosis providing no assistance) and an assistive mode (Orthosis assisting 10% of walking torque). Kinematics tracking and heart rate recording have been used for the assessment of the assistance. The observations exhibited a clear influence of the assistance on the Hip flexion velocity during the swing phase. The ranges of motion of the Hip and the knee tend to increase in the assistive mode whereas the ankle range of motion is reduced. Thus the assistance of the Hip has a global influence on all the joints. The heart rate acquisitions demonstrated a higher energy expenditure while wearing the Orthosis in both transparent and assistive mode.

  • a ball screw driven motorized Hip Orthosis
    Transaction on Control and Mechanical Systems, 2014
    Co-Authors: Jeremy Olivier, A Ortlieb, Mohamed Bouri, Reymond Clavel, Hannes Bleuler
    Abstract:

    In this paper we present a motorized Hip Orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transitions. The design is based on biomechanics considerations. Ranges of motion, velocities and torques of the Hip joint rotations were studied from the literature to define precise design specifications. In order to fit with these requirements, an amplification mechanism inspired by excavators was developed and implemented. Our prototype’s workspace is therefore sufficient for most common activities. The paper also presents a theoretical model of the motorized Orthosis which illustrates the device capabilities. Additional tests with the prototype showed that excellent transparency can be achieved with the device, in particular when using an extra sensor to detect small position variations. The assistance capabilities are limited at higher frequencies but can typically go up to 30% for a 70 kg subject during walking at a cadence of 100 steps/min.

  • Development of an assistive motorized Hip Orthosis: Kinematics analysis and mechanical design
    2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013
    Co-Authors: Jeremy Olivier, A Ortlieb, Mohamed Bouri, Hannes Bleuler, Reymond Clavel
    Abstract:

    With the increase of life expectancy, a higher number of elderly need assistance to maintain their mobility and their independance. The Hip joint is crucial for walking and is problematic for a large number of aged people. In this paper we present a novel design of a motorized Hip Orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transistions. The kinematics was developed based on biomechanics considerations. To be able to achieve a large assistance rate, velocity and torques of the Hip joint were studied from the literature. In order to fit with these requirements, an amplification mechanism inspired by excavators was developed and implemented. Comfort considerations were also taken into account and a custom interface was designed with the collaboration of a professional orthopaedic technician. First tests with the prototype showed that the workspace is sufficent for walking, for stair climbing as well as for sit-to-stand transitions. The assistance rate can go up to 30% for a 70 kg subject during walking at a cadence of 100 steps/min. The comfort is guaranteed despite the important weight (4.3 kg) of this first prototype.