Rehabilitation Robot in Primary Walking Pattern Training for SCI Patient at Home
Recently attention has been focused on incomplete
spinal cord injuries (SCI) to the central spine caused by pressure on
parts of the white matter conduction pathway, such as the pyramidal
tract. In this paper, we focus on a training robot designed to assist with
primary walking-pattern training. The target patient for this training
robot is relearning the basic functions of the usual walking pattern; it is
meant especially for those with incomplete-type SCI to the central
spine, who are capable of standing by themselves but not of
performing walking motions. From the perspective of human
engineering, we monitored the operator’s actions to the robot and
investigated the movement of joints of the lower extremities, the
circumference of the lower extremities, and exercise intensity with the
machine. The concept of the device was to provide mild training
without any sudden changes in heart rate or blood pressure, which will
be particularly useful for the elderly and disabled. The mechanism of
the robot is modified to be simple and lightweight with the expectation
that it will be used at home.
[1] A. Hanafusa, J. Sasaki, T. Fuwa and T. Ikeda, “Self-Aided Manipulator
System for Bed-Ridden Patients -Evaluation of Psychological Influence
for the Generated Approach Motion-,” in Proc. of 2009 IEEE 11th Int.
Conf. on Rehabilitation Robotics, 2009, USB memory.
[2] S. Peng, F. Lian and L. Fu, “Development of Multi-Functional Robotic
Test-Bed for Post-Surgical Healthcare Room,” in Proc. of 2009 IEEE
11th Int. Conf. on Rehabilitation Robotics, 2009, USB memory.
[3] T. Rofer, C. Mandel and T. Laue, “Controlling an Automated Wheelchair
via Joystick/Head-Joystick supported by Smart Driving Assistance,” in
Proc. of 2009 IEEE 11th Int. Conf. on Rehabilitation Robotics, 2009,
USB memory.
[4] T. Sakaki, T. Iribe, T. Kurogi, T. Koga, K. Ushijima, M. Sakuragi and K.
Miyanaga, “Robotic Stretcher for SMA Patient: Preliminary Tests on
Controllability and Safety,” in Proc. of IFAC World Congress 2011,
2011, CD-ROM.
[5] Y. Sankai et al. ” Study on Hybrid Power Assist HAL-1 for Walking Aid
using EMG,” in Proc. of the JME on Ibaraki Symp., 2000, pp. 269-272.
[6] Y. 3Stauffler, Y. Allemand, M. Bouri, J. Fournier, R. Clavel, “Pelvic
Motion Measurement During Over Ground Walking, Analysis and
Implementation on the WalkTrainer Reeducation Device,” in Proc. IEEE
Int. Conf. Intel. Rob. Syst. (IROS), 2008, pp. 2362-2367.
[7] A. Konig, “Design principles to transfer basic neuroscience into gait
rehabililation rehabilitation robots,” in Proc. 2011 IEEE 11th Int. Conf.
on Rehabilitation Robotics, 2011, CD-ROM.
[8] R. Rupp, “Engineering robots for an effective locomotion therapy –
There’s more than joint angles!,” in Proc. 2011 IEEE 11th Int. Conf. on
Rehabilitation Robotics, 2011, CD-ROM.
[9] S. Hesse, D. Uhlenbrock, Sarkodie-Gyan “Gait pattern of severely
disabled hemiparetic subjects on a new controlled gait trainer as
compared to assisted treadmill walking with partial body weight support,”
in Clin Rehabil May 1999, 1999, vol.13, no.5, pp. 401-410.
[10] M. Peshkin et. al, “KineAssist: A robotic overground gait and balance
training device,” in Proc. 2005 IEEE 11th Int. Conf. on Rehabilitation
Robotics, 2005, CD-ROM.
[11] T. Sakaki, N. Ushimi, K. Aoki, K. Fujiie, R. Katamoto, A. Sugyo, Y.
Kihara, “Rehabilitation robots assisting in walking training for SCI
patient,” in IFAC BMS2012, 2012, CD-ROM.
[12] K. Hachisuka et. al., “A prototype walking assist robot and its clinical
application for stroke patients with severe gait disturbance,” Advances in
Physical and Rehabilitation Medicine, 2003, pp. 23-26.
[13] B. H. Dobkin, “Strategies for stroke rehabilitation,” Lancet Neul., 2004,
No.3, pp. 528-536.
[14] P. Langhone et. al., “Motor recovery after stroke: a systematic review,”
Lancet Neurol., 2009, No.8, pp. 741-754.
[15] J. Hidler et. al., “Multicenter randomized clinical trial evaluating the
effectiveness of the Lokomat in subacute stroke,” Neurorehabil. Neural
Repair, 2009, No.23, pp. 5-13.
[16] G. Colombo, J. Matthias, S. Reinhard, and D. Volker, “Treadmill training
of paraplegic patients using a robotic orthosis,” J. Rehabil. Res. Dev.,
Vol. 37, No. 6, pp. 693-700, 2000.
[17] M. R. Dimitrijevic, Y. Gerasimenko, and M. M. Pinter, “Evidence for a
spinal central pattern generator in humans,” Ann. NY Acad. Sci., No. 860,
pp.360-376, 1998.
[18] T. Sakaki, N. Ushimi, K. Aoki, K. Fujiie, R. Katamoto, A. Sugyo and Y.
Kihara, “Rehabilitation robots assisting in walking training for SCI
patient,” in Proc. of Ro-Man 2013, 2013, USB memory.
[19] Taisuke Sakaki, Nobuhiro Ushimi, Koji Murakami, Yong-Kwun Lee,
Kazuhiro Tsuruta, Kanta Aoki, Kaoru Fujiie, Ryuji Katamoto, Atsushi
Sugyo, Yoshimitsu Kihara and Kenji Tateishi, “Rehabilitation robot in
primary walking pattern training for SCI patient,” in Proc. of ICNR 2014,
2014, USB memory.
[1] A. Hanafusa, J. Sasaki, T. Fuwa and T. Ikeda, “Self-Aided Manipulator
System for Bed-Ridden Patients -Evaluation of Psychological Influence
for the Generated Approach Motion-,” in Proc. of 2009 IEEE 11th Int.
Conf. on Rehabilitation Robotics, 2009, USB memory.
[2] S. Peng, F. Lian and L. Fu, “Development of Multi-Functional Robotic
Test-Bed for Post-Surgical Healthcare Room,” in Proc. of 2009 IEEE
11th Int. Conf. on Rehabilitation Robotics, 2009, USB memory.
[3] T. Rofer, C. Mandel and T. Laue, “Controlling an Automated Wheelchair
via Joystick/Head-Joystick supported by Smart Driving Assistance,” in
Proc. of 2009 IEEE 11th Int. Conf. on Rehabilitation Robotics, 2009,
USB memory.
[4] T. Sakaki, T. Iribe, T. Kurogi, T. Koga, K. Ushijima, M. Sakuragi and K.
Miyanaga, “Robotic Stretcher for SMA Patient: Preliminary Tests on
Controllability and Safety,” in Proc. of IFAC World Congress 2011,
2011, CD-ROM.
[5] Y. Sankai et al. ” Study on Hybrid Power Assist HAL-1 for Walking Aid
using EMG,” in Proc. of the JME on Ibaraki Symp., 2000, pp. 269-272.
[6] Y. 3Stauffler, Y. Allemand, M. Bouri, J. Fournier, R. Clavel, “Pelvic
Motion Measurement During Over Ground Walking, Analysis and
Implementation on the WalkTrainer Reeducation Device,” in Proc. IEEE
Int. Conf. Intel. Rob. Syst. (IROS), 2008, pp. 2362-2367.
[7] A. Konig, “Design principles to transfer basic neuroscience into gait
rehabililation rehabilitation robots,” in Proc. 2011 IEEE 11th Int. Conf.
on Rehabilitation Robotics, 2011, CD-ROM.
[8] R. Rupp, “Engineering robots for an effective locomotion therapy –
There’s more than joint angles!,” in Proc. 2011 IEEE 11th Int. Conf. on
Rehabilitation Robotics, 2011, CD-ROM.
[9] S. Hesse, D. Uhlenbrock, Sarkodie-Gyan “Gait pattern of severely
disabled hemiparetic subjects on a new controlled gait trainer as
compared to assisted treadmill walking with partial body weight support,”
in Clin Rehabil May 1999, 1999, vol.13, no.5, pp. 401-410.
[10] M. Peshkin et. al, “KineAssist: A robotic overground gait and balance
training device,” in Proc. 2005 IEEE 11th Int. Conf. on Rehabilitation
Robotics, 2005, CD-ROM.
[11] T. Sakaki, N. Ushimi, K. Aoki, K. Fujiie, R. Katamoto, A. Sugyo, Y.
Kihara, “Rehabilitation robots assisting in walking training for SCI
patient,” in IFAC BMS2012, 2012, CD-ROM.
[12] K. Hachisuka et. al., “A prototype walking assist robot and its clinical
application for stroke patients with severe gait disturbance,” Advances in
Physical and Rehabilitation Medicine, 2003, pp. 23-26.
[13] B. H. Dobkin, “Strategies for stroke rehabilitation,” Lancet Neul., 2004,
No.3, pp. 528-536.
[14] P. Langhone et. al., “Motor recovery after stroke: a systematic review,”
Lancet Neurol., 2009, No.8, pp. 741-754.
[15] J. Hidler et. al., “Multicenter randomized clinical trial evaluating the
effectiveness of the Lokomat in subacute stroke,” Neurorehabil. Neural
Repair, 2009, No.23, pp. 5-13.
[16] G. Colombo, J. Matthias, S. Reinhard, and D. Volker, “Treadmill training
of paraplegic patients using a robotic orthosis,” J. Rehabil. Res. Dev.,
Vol. 37, No. 6, pp. 693-700, 2000.
[17] M. R. Dimitrijevic, Y. Gerasimenko, and M. M. Pinter, “Evidence for a
spinal central pattern generator in humans,” Ann. NY Acad. Sci., No. 860,
pp.360-376, 1998.
[18] T. Sakaki, N. Ushimi, K. Aoki, K. Fujiie, R. Katamoto, A. Sugyo and Y.
Kihara, “Rehabilitation robots assisting in walking training for SCI
patient,” in Proc. of Ro-Man 2013, 2013, USB memory.
[19] Taisuke Sakaki, Nobuhiro Ushimi, Koji Murakami, Yong-Kwun Lee,
Kazuhiro Tsuruta, Kanta Aoki, Kaoru Fujiie, Ryuji Katamoto, Atsushi
Sugyo, Yoshimitsu Kihara and Kenji Tateishi, “Rehabilitation robot in
primary walking pattern training for SCI patient,” in Proc. of ICNR 2014,
2014, USB memory.
@article{"International Journal of Medical, Medicine and Health Sciences:70906", author = "Taisuke Sakaki and Toshihiko Shimokawa and Nobuhiro Ushimi and Koji Murakami and Yong-Kwun Lee and Kazuhiro Tsuruta and Kanta Aoki and Kaoru Fujiie and Ryuji Katamoto and Atsushi Sugyo", title = "Rehabilitation Robot in Primary Walking Pattern Training for SCI Patient at Home", abstract = "Recently attention has been focused on incomplete
spinal cord injuries (SCI) to the central spine caused by pressure on
parts of the white matter conduction pathway, such as the pyramidal
tract. In this paper, we focus on a training robot designed to assist with
primary walking-pattern training. The target patient for this training
robot is relearning the basic functions of the usual walking pattern; it is
meant especially for those with incomplete-type SCI to the central
spine, who are capable of standing by themselves but not of
performing walking motions. From the perspective of human
engineering, we monitored the operator’s actions to the robot and
investigated the movement of joints of the lower extremities, the
circumference of the lower extremities, and exercise intensity with the
machine. The concept of the device was to provide mild training
without any sudden changes in heart rate or blood pressure, which will
be particularly useful for the elderly and disabled. The mechanism of
the robot is modified to be simple and lightweight with the expectation
that it will be used at home.", keywords = "Training, rehabilitation, SCI patient, welfare, robot.", volume = "9", number = "6", pages = "513-5", }
