Use of the robot assisted gait therapy in rehabilitation of patients with stroke and spinal cord injury

European Journal of Physical and Rehabilitation Medicine

Volumn 48, Issue 1, 2012, Pages 111-121

  Sale, P ^a   Franceschini, M ^a   Waldner, A ^b   Hesse, S ^c  

^a IRCCS SAN RAFFAELE PISANA   (Italy)

^b Neurological Rehabilitation   (Italy)

^c CHARITÉ UNIVERSITÄTSMEDIZIN BERLIN   (Germany)

Author keywords

Orthothic devices; Rehabilitation; Spinal cord injuries robotics; Stroke

Indexed keywords

CEREBROVASCULAR ACCIDENT; EQUIPMENT DESIGN; HUMAN; INSTRUMENTATION; NEUROLOGIC DISEASE; ORTHOSIS; REVIEW; ROBOTICS; SPINAL CORD INJURY;

EQUIPMENT DESIGN; GAIT DISORDERS, NEUROLOGIC; HUMANS; ORTHOTIC DEVICES; ROBOTICS; SPINAL CORD INJURIES; STROKE;

EID: 84862563356     PISSN: 19739087     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Review

References (97)

1. Sale P, Zampolini M, Juocevicius A, Lains JM, Giustini A, Negrini S et al. The role of the European physiatrist in traumatic brain injury. AmJ Phys Med Rehabil 2011;90:83-6.
2. Robinson CA, Shumway-Cook A, Ciol MA, Kartin D. Participation in Community Walking Following Stroke: Subjective Versus Objective Measures and the Impact of Personal Factors. Phys Ther 2011;91:1865-76.
3. Finlayson ML, Peterson EW. Falls, aging, and disability. Phys Med Rehabil Clin N Am 2010;21:357-73.
4. Schmidt H, Werner C, Bernhardt R, Hesse S, Krüger J. Gait rehabilitation machines based on programmable footplates. J Neuroeng Rehabil 2007;4:2.
5. van Wijk I, Kappelle LJ, van Gijn J, Koudstaal PJ, Franke CL, Vermeulen M et al. LiLAC study group. Long-term survival and vascular event risk after transient ischaemic attack or minor ischaemic stroke: a cohort study. Lancet 2005 Jun 18-24;365:2098-2104.
6. Van de Port IG, Kwakkel G, van Wijk I and Lindeman E. Susceptibility to deterioration of mobility long-term after stroke: a prospective cohort study. Stroke 2006; 37:167-71. (Pubitemid 43732067)
7. Hoffmann T, Bennett S, Koh C, McKenna K. The Cochrane review of occupational therapy for cognitive impairment in stroke patients. Eur J Phys Rehabil Med 2011;47:513-9.
8. Nichols-Larsen DS, Clark PC, Zeringue A, Greenspan A, Blanton S. Factors influencing stroke survivors' quality of life during subacute recovery. Stroke 2005;36:1480-4. (Pubitemid 40967516)
9. Perry J, Garrett M, Gronley JK, Mulroy SJ. Classification of walking handicap in the stroke population. Stroke 1995;26: 982-9.
10. Mulroy S, Gronley J, Weiss W, Newsam C, Perry J. Use of cluster analysis for gait pattern classification of patients in the early and late recovery phases following stroke. Gait Posture 2003;18:114-25. (Pubitemid 36814147)
11. Teixeira-Salmela LF, Olney SJ, Nadeau S, Brouwer B. Muscle strengthening and physical conditioning to reduce impairment and disability in chronic stroke survivors. Arch Phys Med Rehabil 1999;80:1211-8. (Pubitemid 29474606)
12. Sullivan KJ, Knowlton BJ, Dobkin BH. Step training with body weight support: effect of treadmill speed and practice paradigms on poststroke locomotor recovery. Arch Phys Med Rehabil 2002;83:683-91. (Pubitemid 34498887)
13. Patton JL, Mussa-Ivaldi FA. Robot-assisted adaptive training: custom force fields for teaching movement patterns. IEEE Trans Biomed Eng 2004;51:636-46. (Pubitemid 38375139)
14. Smania N, Gambarin M, Paolucci S, Girardi P, Bortolami M, Fiaschi A et al. Active ankle dorsiflexion and the Mingazzini manoeuvre: two clinical bedside tests related to prognosis of postural transferring, standing and walking ability in patients with stroke. Eur J Phys Rehabil Med 2011;47:435-40.
15. Semprini R, Sale P, Foti C, Fini M, Franceschini M. Gait impairment in neurological disorders: a new technological approach. Funct Neurol 2009;24:179-83.
16. Winchester P, Querry R: Robotic orthoses for body weight-supported treadmill training. Physical medicine and rehabilitation clinics of North America 2006;17:159-72. (Pubitemid 43330957)
17. Volpe BT, Krebs HI, Hogan N. Is robot-aided sensorimotor training in stroke rehabilitation a realistic option? Curr Opin Neurol 2001;14:745-52. (Pubitemid 34060112)
18. Hussain S, Xie SQ, Liu G. Robot assisted treadmill training: mechanisms and training strategies. Med Eng Phys 2011;33:527-533
19. H. Barbeau, "Locomotor training in neurorehabilitation: emerging rehabilitation concepts," Neurorehabil Neural Repair, vol. 17, pp. 3-11; 2003. V
20. Dobkin BH. Strategies for stroke rehabilitation. Lancet Neurol 2004;3:528-36. (Pubitemid 39489836)
21. Barbeau H. Locomotor training in neurorehabilitation: emerging rehabilitation concepts. Neurorehabil Neural Repair 2003;17:3-11. (Pubitemid 37102022)
22. Duysens DJ. Significance of load receptor input during locomotion: a review. Gait Posture 2000;11:102-10.
23. Hesse S. Treadmill training with partial body weight support after stroke: a review NeuroRehabilitation 2008;23:55-65. (Pubitemid 352038562)
24. Hogan N. Guest editorial: rehabilitation applications of robotic technology. J Rehabil Res Develop 2000;37.
25. Dollar AM, Herr H. Lower extremity exoskeletons and active orthoses: challenges and state-of-the-art. IEEE transactions on robotics: a publication of the IEEE Robotics and Automation Society 2008;24.1:1-15.
26. Bogue R. Exoskeletons and robotic prosthetics: a review of recent developments. Industrial robot: an international journal 2009;36:421-7.
27. Colombo G. Treadmill training of paraplegic patients using a robotic orthosis. J Rehabil Res Develop 2000;37:693-700.
28. Schmidt H. Development of a robotic walking simulator for gait rehabilitation. Biomedizinische Technik 2003;48:281-6. (Pubitemid 37295875)
29. van der Kooij H, Veneman J, Ekkelenkamp R. Design of a compliantly actuated exoskeleton for an impedance controlled gait trainer robot. Proceedings of the 28th IEEE EMBS Annual International Conference New York City, USA, Aug 30-Sept 3, 2006.
30. Jezernik S, Colombo G, Morari M. Automatic gait-pattern adaptation algorithms for rehabilitation with a 4-DOF robotic orthosis. Robotics and Automation, IEEE Transactions on 2004;20.574.
31. Krewer FM, Husemann B, Heller S, Quintern J, Koenig E. Energy expenditure of hemiparetic patients and healthy subjects: walking in a lokomat vs. on a treadmill, in Evidence-Based Medicine in Neurorehabilitation 2004. Zürich.
32. Colombo G, Joerg M, Schreier R, Dietz V. Treadmill training of paraplegic patients using a robotic orthosis. J Rehabil Res Dev 2000;37:693-700.
33. Hornby TG, Zemon pH, Campbell D. Robotic-assisted, bod-yweight-supported treadmill training in individuals following motor incomplete spinal cord injury. Phys Ther 2005;85:52-66. (Pubitemid 40041547)
34. Lünenburger L, Colombo G, Riener R, Dietz V. Biofeedback in gait training with the robotic orthosis Lokomat. Conf Proc IEEE Eng Med Biol Soc 2004;7:4888-91. (Pubitemid 40034953)
35. Hidler JM, Wall AE. Alterations in muscle activation patterns during robotic-assisted walking. Clin Biomech (Bristol, Avon) 2005;20:184-93. (Pubitemid 40038182)
36. Hidler JM, Carroll M, Federovich EH. Strength and coordination in the paretic leg of individuals following acute stroke. IEEE Trans Neural Syst Rehabil Eng 2007;15:526-34. (Pubitemid 350274173)
37. Mantone J. Getting a leg up? Rehab patients get an assist from devices such as HealthSouth's AutoAmbulator, but the robots' clinical benefits are still in doubt. Modern Healthcare (MOD HEALTHC) 2006;13:58-60.
38. West RG, inventor; HealthSouth Corporation, assignee. Powered gait orthosis and method of utilizing same. US patent 6689075. February 10, 2004.
39. Veneman JF, Kruidhof R, Hekman EE, Ekkelenkamp R, Van Asseldonk EH, van der Kooij H. Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Trans Neural Syst Rehabil Eng 2007;15:379-86. (Pubitemid 47460425)
40. Proceedings of the 28th IEEE EMBS Annual International Conference New York City, USA, Aug 30-Sept 3, 2006.
41. Banala SK, Kim SH, Agrawal SK, Scholz JP. Robot assisted gait training with active leg exoskeleton (ALEX). IEEE Trans Neural Syst Rehabil Eng 2009;17:2-8.
42. Emken JL, Wynne JH, Harkema SJ, Reinkensmeyer DJ. A robotic device for manipulating human stepping. IEEE Transactions on Robotics 2006;22:185-9. (Pubitemid 43245267)
43. Roy A, Krebs HI, Williams DJ, Bever CT, Forrester LW, Macko RM et al. Robot-aided neurorehabilitation: a novel robot for ankle rehabilitation. IEEE Transactions on Robotics 2009;25.
44. Khanna I, Roy A, Rodgers MM, Krebs HI, Macko RM, Forrester LW. Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke. J Neuroeng Rehabil 2010;7:23.
45. ARGO Medical Technologies Ltd [Internet]. Available from http://www.argomedtec.com/ [cited 2012, Feb 6].
46. Hesse S, Werner C, Uhlenbrock D, von Frankenberg S, Bardeleben A, Brandl-Hesse B. An electromechanical gait trainer for restoration of gait in hemiparetic stroke patients: preliminary results. Neurorehabil Neural Repair 2001;15:39-50. (Pubitemid 32800194)
47. Werner C, Von Frankenberg S, Treig T, Konrad M, Hesse S. Treadmill training with partial body weight support and an electromechanical gait trainer for restoration of gait in subacute stroke patients: a randomized crossover study. Stroke 2002;33:2895-901. (Pubitemid 35462863)
48. Pohl M, Werner C, Holzgraefe M, Kroczek G, Mehrholz J Wingendorf I et al. Repetitive locomotor training and physiotherapy improve walking and basic activities of daily living after stroke: a single-blind, randomized multicentre trial (DEutsche GAngtrainerStudie, DEGAS). Clin Rehabil 2007;21:17-27. (Pubitemid 46165302)
49. Freivogel S, Mehrholz J, Husak-Sotomayor T, Schmalohr D. Gait training with the newly developed 'LokoHelp'-system is feasi-ble for non-ambulatory patients after stroke, spinal cord and brain injury. A feasibility study. Brain Inj 2008;22:625-32. (Pubitemid 351877857)
50. H. Schmidt, D. Sorowka, S. Hesse, and R. Bernhardt, Devel-opment of a robotic walking simulator for gait rehabilitation. Biomed Tech (Berl) 2003;48:281-6. (Pubitemid 37295875)
51. Schmidt H, Werner C, Bernhardt R, Hesse S, Krüger J. Gait rehabilitation machines based on programmable footplates. J Neuroeng Rehabil 2007;4:2.
52. Schmidt H, Hesse S, Bernhardt R, Krüger J. HapticWalker - A novel Haptic Foot Device. ACM Transactions on Applied Perception 2005;2:166-80.
53. Schmidt H, Werner C, Bernhardt R, Hesse S, Krüger J. Gait rehabilitation machines based on programmable footplates. J Neuroeng Rehabil 2007 Feb 9;4:2.
54. Hesse S, Waldner A, Tomelleri C. Innovative gait robot for the repetitive practice of floor walking and stair climbing up and down in stroke patients. J Neuroeng Rehabil 2010;7:30.
55. Barbeau H, Fung J. The role of rehabilitation in the recovery of walking in the neurological population. Curr Opin Neurol 2001;14:735-40. (Pubitemid 34060110)
56. Grillner S, McClellan A, Perret C. Entrainment of the spinal pattern generators for swimming by mechano-sensitive elements in the lamprey spinal cord in vitro. Brain Res 1981;217:380.
57. Barbeau H, Julien C, Rossignol S. The effects of Clonidine and yohimbine on locomotion and cutaneous reflexes in the adult chronic spinal cat. Brain Res 1987;437:83-96. (Pubitemid 18029691)
58. Colombo G, Wirz M, Dietz V. Driven gait orthosis for improvement of locomotor training in paraplegic patients. Spinal Cord 2001;39:252-5. (Pubitemid 32566071)
59. Rémy-Néris O, Barbeau H, Daniel O, Boiteau F, Bussel B. Effects of intrathecal Clonidine injection on spinal reflexes and human locomotion in incomplete paraplegic subjects. Exp Brain Res 1999;129:433-40. (Pubitemid 29537614)
60. Dietz V, Colombo G, Jensen L, Baumgartner L. Locomotor capacity of spinal cord in paraplegic patients. Ann Neurol 1995;37:574-82.
61. Dietz V, Colombo G, Jensen L. Locomotor activity in spinal man. Lancet 1994;344:1260-3. (Pubitemid 24334682)
62. Gorassini MA, Norton JA, Nevett-Duchcherer J, Roy FD, Yang JF. Changes in locomotor muscle activity after treadmill training in subjects with incomplete spinal cord injury. J Neurophysiol 2009;101:969-79.
63. Ditor DS, Kamath MV, MacDonald MJ, Bugaresti J, McCartney N, Hicks AL et al. Effects of body weight-supported treadmill training on heart rate variability and blood pressure variability in individuals with spinal cord injury. J Appl Physiol 2005;98:1519-25. (Pubitemid 40396531)
64. Hidler JM, Wall AE. Alterations in muscle activation patterns during robotic-assisted walking. Clin Biomech 2005;20:184-93. (Pubitemid 40038182)
65. Israel JF, Campbell DD, Kahn JH, Hornby TG. Metabolic costs and muscle activity patterns during robotic- and therapist-assisted treadmill walking in individuals with incomplete spinal cord injury. Phys Ther 2006;86:1466-78. (Pubitemid 44672536)
66. Wu M, Hornby TG, Landry JM, Roth H, Schmit BD. A cabledriven locomotor training system for restoration of gait in human SCI. Gait Posture 2011;33:256-60.
67. Lam T, Pauhl K, Krassioukov A, Eng JJ. Using robot-applied resistance to augment body-weight-supported treadmill training in an individual with incomplete spinal cord injury. Phys Ther 2011;91:143-51.
68. Duschau-Wicke A, Caprez A, Riener R. Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training. J Neuroeng Rehabil 2010;7: 43.
69. Lam T, Wirz M, Lünenburger L, Dietz V. Swing phase resistance enhances flexor muscle activity during treadmill locomotion in incomplete spinal cord injury. Neurorehabil Neural Repair 2008;22:438-46.
70. Hidler J, Neckel N. Inverse-dynamics based assessment of gait using a robotic orthosis. Conf Proc IEEE Eng Med Biol Soc 2000;1:185-8.
71. Dobkin BH, Harkema S, Requejo P, Edgerton VR. Modulation of locomotor-like EMG activity in subjects with complete and incomplete spinal cord injury. J Neurol Rehabil 1995;9:183-90.
72. Behrman AL, Lawless-Dixon AR, Davis SB, Bowden MG, Nair P, Phadke C et al. Locomotor training progression and outcomes after incomplete spinal cord injury. Phys Ther 2005;85:1356-71. (Pubitemid 41746281)
73. Lam T, Wirz M, Lünenburger L, Dietz V. Swing phase resistance enhances flexor muscle activity during treadmill locomotion in incomplete spinal cord injury. Neurorehabil Neural Repair 2008;22:438-46.
74. Bolliger M, Banz R, Dietz V, Lünenburger L. Standardized voluntary force measurement in a lower extremity rehabilitation robot. J Neuroeng Rehabil 2008;5:23.
75. Swinnen E, Duerinck S, Baeyens JP, Meeusen R, Kerckhofs E. Effectiveness of robot-assisted gait training in persons with spinal cord injury: a systematic review. J Rehabil Med 2010;42:5206.
76. Swinnen E, Duerinck S, Baeyens JP, Meeusen R, Kerckhofs E. Effectiveness of robot-assisted gait training in persons with spinal cord injury: a systematic review. J Rehabil Med 2010;42:5206.
77. Behrman AL, Harkema SJ. Locomotor training after human spinal cord injury: A series of case studies. Physical Therapy 2000;80:688-700. (Pubitemid 30441698)
78. Schmidt H, Sorowka D, Hesse S, Bernhardt R. Development of a robotic walking simulator for gait rehabilitation. Biomed Tech (Berl) 2003;48:281-6. (Pubitemid 37295875)
79. Hesse S, Merholz J, Werner C. Robot-assisted upper and lower limb rehabilitation after stroke: walking and arm/hand function. Dtsch Arztebl Int 2008;105:330-6. (Pubitemid 351828491)
80. Westlake KP, Patten C. Pilot study of Lokomat versus manualassisted treadmill training for locomotor recovery post-stroke. J Neuroeng Rehabil 2009;6:18.
81. Moreno JC, Del Ama AJ, de Los Reyes-Guzmán A, Gil-Agudo A, Ceres R et al. Neurorobotic and hybrid management of lower limb motor disorders: a review. Med Biol Eng Comput 2011;49:1119-30.
82. Hidler J, Nichols D, Pelliccio M, Brady K, Campbell DD, Kahn JH et al. Multicenter randomized clinical trial evaluating the effectiveness of the Lokomat in subacute stroke. Neurorehabil Neural Repair 2009;23:5-1.
83. Colombo G, Joerg M, Schreier R, Dietz V. Treadmill training of paraplegic patients using a robotic orthosis. J Rehabil Res Dev 2000;37:693-700.
84. Bovolenta F, Sale P, Dall'Armi V, Clerici P, Franceschini M. Robot-aided therapy for upper limbs in patients with strokerelated lesions. Brief report of a clinical experience. J Neuroeng Rehabil 2011;8:18.
85. Laver KE, George S, Thomas S, Deutsch JE, Crotty M. Virtual reality for stroke rehabilitation. Cochrane Database Syst Rev 2011;9:CD008349.
86. Holden MK. Virtual environments for motor rehabilitation: review. Cyberpsychol Behav 2005;8:187-211.
87. Prange GB, Jannink MJ, Groothuis-Oudshoorn CG, Hermens HJ, Ijzerman MJ. Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke. J Rehabil Res Dev 2006;43:171-84.
88. Buurke JH, Nene AV, Kwakkel G, Erren-Wolters V, Ijzerman MJ, Hermens HJ. Recovery of gait after stroke: what changes? Neurorehabil Neural Repair 2008;22:676-683
89. Wagenaar RC, Meijer OG, van Wieringen PC, Kuik DJ, Hazenberg GJ, Lindeboom J et al. The functional recovery of stroke: a comparison between neuro-developmental treatment and the Brunnstrom method. Scand J Rehabil Med 1990;22:1-8. (Pubitemid 20125168)
90. Buurke JH, Nene AV, Kwakkel G, Erren-Wolters V, Ijzerman MJ, Hermens HJ. Recovery of gait after stroke: what changes? Neurorehabil Neural Repair 2008;22:676-83.
91. Barreca S, Wolf SL, Fasoli S, Bohannon R. Treatment interventions for the paretic upper limb of stroke survivors: a critical review. Neurorehabil NeuralRepair 2003;17:220-6. (Pubitemid 37421122)
92. Mayr A, Kofier M, Quirbach E, Matzak H, Frohlich K, Saltuari L. Prospective, blinded, randomized crossover study of gait re-habilitation in stroke patients using the Lokomat gait orthosis. Neurorehabil Neural Repair 2007;21:307-14. (Pubitemid 46871850)
93. Schwartz I, Sajin A, Fisher I, Neeb M, Shochina M, Katz-Leurer M. The effectiveness of locomotor therapy using robotic as-sisted gait training in subacute stroke patients: a randomized controlled triai. PM&R 2009;1:516-23.
94. Mehrholz J, Werner C, Kugler J, Pohl M. Electromechanicalassisted training for walking after stroke. Cochrane Database of Systematic Reviews 2007, Issue 4. Art. No.: CD006185.
95. Fisher S, Lucas L, Thrasher TA. Robot-assisted gait training for patients with hemiparesis due to stroke. Top Stroke Rehabil 2011;18:269-76.
96. Geroin C, Picelli A, Munari D, Waldner A, Tomelleri C, Smania N. Combined transcranial direct current stimulation and robotassisted gait training in patients with chronic stroke: a preliminary comparison. Clin Rehabil 2011;25:537-48.
97. Wagner TH, Lo AC, Peduzzi P, Bravata DM, Huang GD, Krebs HI et al. An economic analysis of robot-assisted therapy for long-term upper-limb impairment after stroke. Stroke 2011;42: 2630-2.