TY - JOUR
T1 - Control strategies for gait tele-rehabilitation system based on parallel robotics
AU - Bo, Antonio P.L.
AU - Casas, Leslie
AU - Cucho-Padin, Gonzalo
AU - Hayashibe, Mitsuhiro
AU - Elias, Dante
N1 - Funding Information:
Funding: This research was funded in the context of the STIC-AmSud Program, with funds from INRIA (France), CAPES (Brazil), and CONCYTEC (Peru).
Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2021/12/1
Y1 - 2021/12/1
N2 - Among end-effector robots for lower limb rehabilitation, systems based on Stewart–Gough platforms enable independent movement of each foot in six degrees of freedom. Nevertheless, control strategies described in recent literature have not been able to fully explore the potential of such a mechatronic system. In this work, we propose two novel approaches for controlling a gait simulator based on Stewart–Gough platforms. The first strategy provides the therapist direct control of each platform using movement data measured by wearable sensors. The following scheme is designed to improve the level of engagement of the patient by enabling a limited degree of control based on trunk inclination. Both strategies are designed to facilitate future studies in tele-rehabilitation settings. Experimental results have illustrated the feasibility of both control interfaces, either in terms of system performance or user subjective evaluation. Technical capacity to deploy in tele-rehabilitation was also verified in this work.
AB - Among end-effector robots for lower limb rehabilitation, systems based on Stewart–Gough platforms enable independent movement of each foot in six degrees of freedom. Nevertheless, control strategies described in recent literature have not been able to fully explore the potential of such a mechatronic system. In this work, we propose two novel approaches for controlling a gait simulator based on Stewart–Gough platforms. The first strategy provides the therapist direct control of each platform using movement data measured by wearable sensors. The following scheme is designed to improve the level of engagement of the patient by enabling a limited degree of control based on trunk inclination. Both strategies are designed to facilitate future studies in tele-rehabilitation settings. Experimental results have illustrated the feasibility of both control interfaces, either in terms of system performance or user subjective evaluation. Technical capacity to deploy in tele-rehabilitation was also verified in this work.
KW - Gait simulator
KW - Inertial sensing
KW - Stewart–Gough platforms
KW - Tele-rehabilitation
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U2 - 10.3390/app112311095
DO - 10.3390/app112311095
M3 - Article
AN - SCOPUS:85119976761
VL - 11
JO - Applied Sciences (Switzerland)
JF - Applied Sciences (Switzerland)
SN - 2076-3417
IS - 23
M1 - 11095
ER -