Patient-cooperative strategies for robot-aided treadmill training: First experimental results

IEEE Transactions on Neural Systems and Rehabilitation Engineering

Volumn 13, Issue 3, 2005, Pages 380-394

  Riener, Robert ^a,b,d,e,f   Lünenburger, Lars ^b,g   Jezernik, Sašo ^a,h   Anderschitz, Martin ^a,i   Colombo, Gery ^b,c,i   Dietz, Volker ^{b,j,k,l,m,n,o,p,q}  

^a ETH ZURICH   (Switzerland)

^b BALGRIST UNIVERSITY HOSPITAL   (Switzerland)

^c HOCOMA AG   (Switzerland)

^d IEEE   (Netherlands)

^e International Functional Electrical Stimulation Society (IFESS)   (Switzerland)

^f AUTOMED Society   (Switzerland)

^g Neural Control of Movement (NCM) Society

^h BERATA AG   (Switzerland)

ⁱ BERATA AG ^*

^j German Research Council   (Germany)

^k Schweizerische Nationalfonds SNF   (Switzerland)

^l DANISH NATIONAL RESEARCH FOUNDATION   (Denmark)

^m British MRC Council   (United Kingdom)

ⁿ NASA HEADQUARTERS   (United States)

^o EUROPEAN COMMISSION   (Belgium)

^p International Spinal Research Trust   (United Kingdom)

^q ROYAL COLLEGE OF PHYSICIANS   (United Kingdom)

more..

Author keywords

Adaptive control; Biofeedback; Closed loop control; Feedback control; Gait therapy; Impedance control; Neuro rehabilitation; Robotics; Treadmill training

Indexed keywords

GAIT THERAPY; IMPEDANCE CONTROL; NEURO-REHABILITATION; TREADMILL TRAINING;

ADAPTIVE CONTROL SYSTEMS; AUTOMATION; BIOFEEDBACK; CLOSED LOOP CONTROL SYSTEMS; GAIT ANALYSIS; NEUROLOGY; PATIENT REHABILITATION; ROBOTICS; ROBOTS;

EXERCISE EQUIPMENT;

ADAPTATION; ARTICLE; AUTOMATION; FEEDBACK SYSTEM; HUMAN; HYPOTHESIS; IMPEDANCE; MOTOR PERFORMANCE; MOVEMENT (PHYSIOLOGY); NEUROLOGIC DISEASE; PRIORITY JOURNAL; ROBOTICS; TASK PERFORMANCE; TRAINING; TREADMILL; VOLUNTARY MOVEMENT;

EXERCISE TEST; GAIT DISORDERS, NEUROLOGIC; HUMANS; LEG; MOTION THERAPY, CONTINUOUS PASSIVE; PILOT PROJECTS; ROBOTICS; THERAPY, COMPUTER-ASSISTED; TREATMENT OUTCOME; USER-COMPUTER INTERFACE;

EID: 26244464306     PISSN: 15344320     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNSRE.2005.848628     Document Type: Article

References (42)

1. H. Barbeau and S. Rossignol, "Enhancement of locomotor recovery following spinal cord injury," Current Opinion Neurol., vol. 7, pp. 517-524 1994.
2. H. Barbeau, M. Ladouceur, K. E. Norman, A. Pepin, and A. Leroux "Walking after spinal cord injury: Evaluation, treatment, and functional recovery," Arch. Phys. Med. Rehabil., vol. 80, pp. 225-235, 1999.
3. A. L. Behrman and S. J. Harkema, "Locomotor training after human spinal cord injury: A series of case studies," Physical Therapy, vol. 80, pp. 688-700, 2000.
4. A. Wernig and S. Muller, "Laufband locomotion with body weight support improved walking in persons with severe spinal cord injuries," Paraplegia, vol. 30, pp. 229-238, 1992.
5. V. Dietz, G. Colombo, and L. Jensen, "Locomotor activity in spinal man," Lancet, vol. 44, pp. 1260-1263, 1994.
6. V. Dietz, G. Colombo, L. Jensen, and L, Baumgartner, "Locomotor capacity of spinal cord in paraplegic patients," Ann. Neurol., vol. 37, pp. 574-582, 1995.
7. E. C. Field-Fote, "Spinal cord control of movement: implications for locomotor rehabilitation following spinal cord injury," Physical Therapy, vol. 80, pp. 477-484, 2000.
8. L. Finch, H. Barbeau, and B. Arsenault, "Influence of body weight support on normal human gait: Development of a gait retraining strategy," Physical Therapy, vol. 71, pp. 842-856, 1991.
9. S. Hesse, C. Bertelt, A. Schaffrin, M. Malezic, and K. H. Mauritz, "Restoration of gait in nonamulatory hemiparetic patients by treadmill training with partial body-weight support," Arch. Phys. Med. Rehabil., vol. 75, pp. 1087-1093, 1994.
10. S. Hesse, C. Bertelt, M. T. Jahnke, A. Schaffrin, P. Baake, and M. Malezic et al., "Treadmill training with partial body weight support compared with physiotherapy in nonambulatory hemiparetic patients," Stroke, vol. 26, pp. 976-981, 1995.
11. I. T. Da Cunha, P. A. Lim, H. Qureshy, H. Henson, T. Monga, and E. J. Protas, "Gait outcomes after acute stroke rehabilitation with supported treadmill ambulation training: a randomized controlled pilot study," Arch. Phys. Med. Rehabil., vol. 83, pp. 1258-1265, 2002.
12. M. Visitin, H. Barbeau, N. Korner-Bitensky, and N. E. Mayo, "A new approach to retrain gait in stroke patients through body weight support and treadmill stimulation," Stroke, vol. 29, pp. 1122-1128, 1998.
13. Y. Laufer, R. Dickstein, Y. Chefez, and E. Marcovitz, "The effect of treadmill training on the ambulation of stroke survivors in the early stages of rehabilitation," J. Rehabil. Res. Dev., vol. 38, pp. 69-78, 2001.
14. I. T. Da Cunha, P. A. Lim, H. Qureshy, H. Hensen, T. Monga, and E. Protas, "A comparison of regular rehabilitation and regular rehabilitation with supported treadmill ambulation training for acute stroke subjects," J. Rehabil. Res. Dev., vol. 38, pp. 245-255, 2001.
15. A. Mayr, L. Luenenburger, E. Quirinbach, K. H. Matzak, K. Fröhlich, M. Kofler, and L. Saltuari, "First experience with the Lokomat in patients with severe traumatic brain injury," in Proc. Int Brain Injury Assoc. 5th World Cong., Stockholm, Sweden, May 23-26, 2003.
16. T. Prokop and W. Berger, "Influence of optic flow on locomotion in normal subjects an patients with Parkinson's disease," Electroencephalogr. Clin. Neurophysiol, vol. 99, p. 402, 1996.
17. M. Wirz, D. H. Zemon, R. Rupp, A. Scheel, G. Colombo, V. Dietz, and T. G. Hornby, "Effectiveness of an automated locomotor training in patients with chronic incomplete spinal cord injury: A multicenter trial," Arch. Phys. Med. Rehabil., to be published.
18. A. Mayr, L. Luenenburger, E. Quirbach, K.-H. Matzak, K. Froehlich, M. Kofler, and L. Saltuari, "First experiences with the Lokomat in patients with severe traumatic brain injury," Brain Injury, vol. 17, pp. 46-47, 2003.
19. V. Dietz, R. Mueller, and G. Colombo, "Locomotor activity in spinal man: Significance of afferent input from joint and load receptors," Brain, vol. 125, pp. 2626-2634, 2002.
20. G. Colombo, M. Jörg, R. Schreier, and V. Dietz, "Treadmill training of paraplegic patients using a robotic orthosist," J. Rehabil. Res. Develop., vol. 37, pp. 693-700, 2000.
21. G. Colombo, M. Jörg, and S. Jezernik, "Automatisiertes Lokomotionstraining auf dem Laufband," Automatisierungstechnik at, vol. 50, pp. 287-295, 2002.
22. S. Jezernik, G. Colombo, and M. Morari, "Automatic gait-pattern adaptation algorithms for rehabilitation with a 4 DOF robotic orthosis," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 574-582, Jun. 2004.
23. N. Hogan, "Impedance control: An approach to manipulation, parts I, II, III," J. Dynamic Syst. Meas. Control, vol. 107, pp. 1-23, 1985.
24. R. Riener and T. Edrich, "Identification of passive elastic joint moments in the lower extremities," J. Biomechanics, vol. 32, pp. 539-544, 1999.
25. T. Edrich, R. Riener, and J. Quintern, "Analysis of passive elastic joint moments of the lower extremities in paraplegics and normal controls," IEEE Trans. Biomed. Eng., vol. 47, no. 8, pp. 1058-1065, Aug. 2000.
26. V. Zatsiorsky and V. Seluyanov, "The mass and inertia characteristics of the main segments of the human body," in International Series on Biomechanics, H. Matsui and K. Kobayashi, Eds. Champaign, IL: Human Kinetics, 1983, vol. 4B, Biomechanics VIII-B, pp. 1152-1159.
27. J. Hoogen, R. Riener, and G. Schmidt, "Control aspects of a robotic haptic interface for kinesthetic knee joint simulation," Control Eng. Practice, vol. 10, pp. 1301-1308, 2002.
28. D. A. Lawrence, "Impedance control stability properties in common implementations," in Frac. IEEE Int. Conf. Robot. Automat., vol. 2, Philadelphia, PA, Apr. 1988, pp. 1185-1190.
29. R. J. Adams, M. R. Moreyra, and B. Hannaford, "Stability and performance of haptic displays: Theory and experiments," in Proc. ASME Int. Mechan. Eng. Cong. Exhibition, Anaheim, CA, 1998, pp. 227-234.
30. S. Jezernik, K. Jezernik, and M. Morari, "Impedance control based gait-pattern adaptation for a robotic rehabilitation device," in Proc. 2nd IFAC Conf. Mechatron. Syst., Berkeley, 2002, pp. 417-421.
31. S. Jezernik and M. Morari, "Controlling the human-robot interaction for robotic rehabilitation of locomotion," in Proc. 7th Int. Workshop Adv. Motion Control, Maribor, Slovenia, Jul. 2002, pp. 133-135.
32. J. V. Basmajian, Muscles Alive: Their Functions Revealed by Electromyography, 4th ed. Baltimore, MD: Williams Wilkins, 1978.
33. D. A. Winter, The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological, 2nd ed. Waterloo, ON, Canada: Univ. Waterloo Press, 1991.
34. S. Jezernik, R. Schärer, G. Colombo, and M. Morari, "Adaptive robotic rehabilitation of locomotion: A clinical study in spinally injured individuals," Spinal Cord, vol. 41, pp. 657-666, 2003.
35. D. P. Ferries, K. E. Gordon, J. A. Beres-Jones, and S. J. Harkema, "Muscle activation during unilateral stepping occurs in the nonstepping limb of humans with clinically complete spinal cord injury," Spinal Cord, vol. 42, pp. 14-23, 2003.
36. M. Pohl, J. Mehrholz, C. Ritschel, and S. Rückheim, "Speed-dependent treadmill training in ambulatory hemiparetic stroke patients," Stroke, vol. 33, pp. 553-558, 2002.
37. J. S. Petrofsky, "The use of electromyogram biofeedback to reduce Trendelenburg gait," Eur. J. Appl. Physiol., vol. 85, pp. 491-495, 2001.
38. J. E. Bolek, "A preliminary study of modification of gait in real-time using surface electromyography," Appl. Psychophysiol. Biofeedback, vol. 28, pp. 129-138, 2003.
39. R. W. Teasell, S. K. Bhogal, N. C. Foley, and M. R. Speechley, "Gait retraining post stroke," Top Stroke Rehabil., vol. 10, pp. 34-65, 2003.
40. F. M. Maynard, M. B. Bracken, G. Creasey, J. F. Ditunno, W. H. Donovan, T. B. Ducker, S. L. Garber, R. J. Marino, S. L. Stover, C. H. Tator, R. L. Waters, J. E. Wilberger, and W. Young, "International standards for neurological and functional classification of spinal cord injury," Spinal Cord, vol. 35, pp. 266-274, 1997.
41. R. Riener and T. Fuhr, "Patient-driven control of FES-supported standing-up: A simulation study," IEEE Trans. Rehabil. Eng., vol. 6, no. 2, pp. 113-124, Jun. 1998.
42. H. I. Krebs, N. Hogan, M. L. Aisen, and B. T. Volpe, "Robot-aided neurorehabilitation," IEEE Trans. Rehabil. Eng., vol. 6, no. 1, pp. 75-87, Mar. 1998.