Exoskeleton for Hemiplegic Patients: Mechatronic Approach to Move One Disabled Lower Limb
The number of people suffering from hemiplegia is growing each year. This lower limb disability affects all the aspects of their lives by taking away their autonomy. This implicates their close relatives, as well as the health system to provide the necessary care they need. The integration of exoskeletons in the medical field became a promising solution to resolve this issue. This paper presents an exoskeleton designed to help hemiplegic people get back the sensation and ability of normal walking. For this purpose, three step models have been created. The first step allows a simple forward movement of the leg. The second method is designed to overcome some obstacles in the patient path, and finally the third step model gives the patient total control over the device. Each of the control methods was designed to offer a solution to the challenges that the patients may face during the walking process.
[1] Elisabeth Cloutier, Chantal Grondin, Amélie Lévesque, “Canadian Survey on Disability Report”. Canadian Survey on Disability, 2017: Concepts and Methods Guide.
[2] R. S. Mosher, “Handyman to Hardiman”. 1967, Soc. Autom. Eng. Int. (SAE), Detroit MI, Tech. Rep. 670088.
[3] Ekso exoskeleton for rehabilitation in people with neurological weakness or paralysis. 2017 NICE: National institute for health and care Excellence.
[4] D. Shin, H. Lee, "A study on an FES and Exoskeletal robot for walking assistance of paralyzed human," 2011, 11th International Conference on Control, Automation and Systems, Gyeonggi-do, 2011, pp. 587-589.
[5] H. He, K. Kiguchi, "A Study on EMG-Based Control of Exoskeleton Robots for Human Lower-limb Motion Assist," 2007, 6th International Special Topic Conference on Information Technology Applications in Biomedicine, Tokyo, pp. 292-295.
[6] No-Sang Kwak, Klaus-Robert Müller, Seong-Whan Lee, “A lower limb exoskeleton control system based on steady state visual evoked potentials”, 2015, Journal of Neural Engineering, volume 12 number 5
[7] A. J. McDaid, S. Xing and S. Q. Xie, "Brain controlled robotic exoskeleton for neurorehabilitation," 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, NSW, pp. 1039-1044. doi: 10.1109/AIM.2013.6584231
[8] Johnson, D. C., Repperger, D. W., & Thompson, G. (n.d.). “Development of a mobility assist for the paralyzed, amputee, and spastic patient”. Proceedings of the 1996 Fifteenth Southern Biomedical Engineering Conference. doi:10.1109/sbec.1996.493115
[9] J. I. Khan, K. M. Moshiur Rahman Songlap, A. M. Mizan, M. Farhan Sahar and S. Ahmed, "Assistive Exoskeleton for Paralyzed People," 2019 International Conference on Robotics,Electrical and Signal Processing Techniques (ICREST), Dhaka, Bangladesh, 2019, pp. 474-479. doi: 10.1109/ICREST.2019.8644229
[10] K. Kiguchi, Y. Yokomine, "Walking assist for a stroke survivor with a power-assist exoskeleton," 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego, CA, pp. 1888-1892.
doi: 10.1109/SMC.2014.6974196
[11] L. Wang, S. Wang, E. H. F. van Asseldonk, H. van der Kooij, "Actively controlled lateral gait assistance in a lower limb exoskeleton," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, pp. 965-970.doi: 10.1109/IROS.2013.6696467
[12] I A De Quervain, Sheldon R. Simon, Sue E. Leurgans, William S. Pease, David R. Mcallister, “Gait Pattern in the Early Recovery Period after Stroke” 1996, The Journal of bone and joint surgery. American volume, DOI:10.2106/00004623-199610000-00008
[13] P. Konrad. The ABC of EMG: A practical introduction to Kinesiological Electromyography. Version 1.4 March 2006
[1] Elisabeth Cloutier, Chantal Grondin, Amélie Lévesque, “Canadian Survey on Disability Report”. Canadian Survey on Disability, 2017: Concepts and Methods Guide.
[2] R. S. Mosher, “Handyman to Hardiman”. 1967, Soc. Autom. Eng. Int. (SAE), Detroit MI, Tech. Rep. 670088.
[3] Ekso exoskeleton for rehabilitation in people with neurological weakness or paralysis. 2017 NICE: National institute for health and care Excellence.
[4] D. Shin, H. Lee, "A study on an FES and Exoskeletal robot for walking assistance of paralyzed human," 2011, 11th International Conference on Control, Automation and Systems, Gyeonggi-do, 2011, pp. 587-589.
[5] H. He, K. Kiguchi, "A Study on EMG-Based Control of Exoskeleton Robots for Human Lower-limb Motion Assist," 2007, 6th International Special Topic Conference on Information Technology Applications in Biomedicine, Tokyo, pp. 292-295.
[6] No-Sang Kwak, Klaus-Robert Müller, Seong-Whan Lee, “A lower limb exoskeleton control system based on steady state visual evoked potentials”, 2015, Journal of Neural Engineering, volume 12 number 5
[7] A. J. McDaid, S. Xing and S. Q. Xie, "Brain controlled robotic exoskeleton for neurorehabilitation," 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, NSW, pp. 1039-1044. doi: 10.1109/AIM.2013.6584231
[8] Johnson, D. C., Repperger, D. W., & Thompson, G. (n.d.). “Development of a mobility assist for the paralyzed, amputee, and spastic patient”. Proceedings of the 1996 Fifteenth Southern Biomedical Engineering Conference. doi:10.1109/sbec.1996.493115
[9] J. I. Khan, K. M. Moshiur Rahman Songlap, A. M. Mizan, M. Farhan Sahar and S. Ahmed, "Assistive Exoskeleton for Paralyzed People," 2019 International Conference on Robotics,Electrical and Signal Processing Techniques (ICREST), Dhaka, Bangladesh, 2019, pp. 474-479. doi: 10.1109/ICREST.2019.8644229
[10] K. Kiguchi, Y. Yokomine, "Walking assist for a stroke survivor with a power-assist exoskeleton," 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego, CA, pp. 1888-1892.
doi: 10.1109/SMC.2014.6974196
[11] L. Wang, S. Wang, E. H. F. van Asseldonk, H. van der Kooij, "Actively controlled lateral gait assistance in a lower limb exoskeleton," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, pp. 965-970.doi: 10.1109/IROS.2013.6696467
[12] I A De Quervain, Sheldon R. Simon, Sue E. Leurgans, William S. Pease, David R. Mcallister, “Gait Pattern in the Early Recovery Period after Stroke” 1996, The Journal of bone and joint surgery. American volume, DOI:10.2106/00004623-199610000-00008
[13] P. Konrad. The ABC of EMG: A practical introduction to Kinesiological Electromyography. Version 1.4 March 2006
@article{"International Journal of Medical, Medicine and Health Sciences:79853", author = "Alaoui Hamza and Moutacalli Mohamed Tarik and Chebak Ahmed", title = "Exoskeleton for Hemiplegic Patients: Mechatronic Approach to Move One Disabled Lower Limb", abstract = "The number of people suffering from hemiplegia is growing each year. This lower limb disability affects all the aspects of their lives by taking away their autonomy. This implicates their close relatives, as well as the health system to provide the necessary care they need. The integration of exoskeletons in the medical field became a promising solution to resolve this issue. This paper presents an exoskeleton designed to help hemiplegic people get back the sensation and ability of normal walking. For this purpose, three step models have been created. The first step allows a simple forward movement of the leg. The second method is designed to overcome some obstacles in the patient path, and finally the third step model gives the patient total control over the device. Each of the control methods was designed to offer a solution to the challenges that the patients may face during the walking process.", keywords = "Ability of normal walking, exoskeleton, hemiplegic patients, lower limb motion, mechatronics.", volume = "14", number = "9", pages = "254-5", }
