Developing A Tactile Augmenting Exoskeleton for Gait Rehabilitation
Presenter Type
UNO Graduate Student (Doctoral)
Major/Field of Study
Biomechanics
Author ORCID Identifier
https://orcid.org/0009-0001-9727-3210
Advisor Information
Mukul Mukherjee
Location
CEC RM #201/205/209
Presentation Type
Poster
Poster Size
48x36
Start Date
22-3-2024 10:30 AM
End Date
22-3-2024 11:45 AM
Abstract
Out of 795,000 strokes that occur annually, it is estimated that 74% of the survivors suffer from major functional impairments of the ankle and 50% have sensory problems within the lower limbs, both resulting in severe gait deficits. These deficits contribute to an asymmetric walking pattern that results in an increased risk of injury through reduced balance control. Thus, developing a method for increasing gait symmetry to improve balance would greatly improve the quality of life of these individuals. Ankle exoskeletons (EXO) have been shown to improve gait symmetry by assisting the push-off phase of the more paretic limb during walking. However, rarely does this improvement persist after the EXO is removed. Sensory augmentation through tactile stimulation (TS) may aid in the preservation of symmetry by providing additional feedback about their asymmetric walking patterns. TS on its own has been shown to reduce asymmetry, however, the functional deficits at the ankle may limit the ability of stroke survivors to adjust their gait from stimulation alone. Thus, combining the use of an EXO with tactile sensory augmentation would allow stroke survivors to sense their movement errors as well as give them the means to correct them. Therefore, this study aims to determine if combining the use of an ankle EXO with TS would improve gait symmetry and balance control greater than each on their own. To do this, we have developed control systems that provides adaptive symmetric assistance for both an ankle EXO and a foot sole TS device. The EXO provides plantarflexion assistance according to the amount of push-off performed by the less paretic side, resulting in symmetric push-off. The TS provides vibrations to the soles of the feet while walking according to their real-time stepping. The duration of these vibrations reinforced walking with symmetrical stance times, the subject was informed to have their foot on the ground if it was vibrating. Our preliminary results demonstrate the adaptive control of our EXO and TS systems. The EXO device provided assistance with a force difference of 41.5±13.1N and a time delay of only 0.038±0.21sec. This research is anticipated to demonstrate that the combination of motor and sensory rehabilitation allows for greater retention of therapeutic interventions.
Developing A Tactile Augmenting Exoskeleton for Gait Rehabilitation
CEC RM #201/205/209
Out of 795,000 strokes that occur annually, it is estimated that 74% of the survivors suffer from major functional impairments of the ankle and 50% have sensory problems within the lower limbs, both resulting in severe gait deficits. These deficits contribute to an asymmetric walking pattern that results in an increased risk of injury through reduced balance control. Thus, developing a method for increasing gait symmetry to improve balance would greatly improve the quality of life of these individuals. Ankle exoskeletons (EXO) have been shown to improve gait symmetry by assisting the push-off phase of the more paretic limb during walking. However, rarely does this improvement persist after the EXO is removed. Sensory augmentation through tactile stimulation (TS) may aid in the preservation of symmetry by providing additional feedback about their asymmetric walking patterns. TS on its own has been shown to reduce asymmetry, however, the functional deficits at the ankle may limit the ability of stroke survivors to adjust their gait from stimulation alone. Thus, combining the use of an EXO with tactile sensory augmentation would allow stroke survivors to sense their movement errors as well as give them the means to correct them. Therefore, this study aims to determine if combining the use of an ankle EXO with TS would improve gait symmetry and balance control greater than each on their own. To do this, we have developed control systems that provides adaptive symmetric assistance for both an ankle EXO and a foot sole TS device. The EXO provides plantarflexion assistance according to the amount of push-off performed by the less paretic side, resulting in symmetric push-off. The TS provides vibrations to the soles of the feet while walking according to their real-time stepping. The duration of these vibrations reinforced walking with symmetrical stance times, the subject was informed to have their foot on the ground if it was vibrating. Our preliminary results demonstrate the adaptive control of our EXO and TS systems. The EXO device provided assistance with a force difference of 41.5±13.1N and a time delay of only 0.038±0.21sec. This research is anticipated to demonstrate that the combination of motor and sensory rehabilitation allows for greater retention of therapeutic interventions.