Abstract:
Locomotor training using body weight support on a treadmill and manual assistance is a promising rehabilitation technique following neurological injuries, such as spinal ...Show MoreMetadata
Abstract:
Locomotor training using body weight support on a treadmill and manual assistance is a promising rehabilitation technique following neurological injuries, such as spinal cord injury (SCI) and stroke. Previous robots that automate this technique impose constraints on naturalistic walking due to their kinematic structure, and are typically operated in a stiff mode, limiting the ability of the patient or human trainer to influence the stepping pattern. We developed a pneumatic gait training robot that allows for a full range of natural motion of the legs and pelvis during treadmill walking, and provides compliant assistance. However, we observed an unexpected consequence of the devices compliance: unimpaired and SCI individuals invariably began walking out-of-phase with the device. Thus, the robot perturbed rather than assisted stepping. To address this problem, we developed a novel algorithm that synchronizes the device in real-time to the actual motion of the individual by sensing the state error and adjusting the replay timing to reduce this error. This paper describes data from experiments with individuals with SCI that demonstrate the effectiveness of the synchronization algorithm, and the potential of the device for relieving the trainers of strenuous work while maintaining naturalistic stepping.
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering ( Volume: 15, Issue: 3, September 2007)
Los Amigos Research and Education Institute, Downey, CA, USA
Daisuke Aoyagi received the B.Eng. degree in mechanical engineering from the Waseda University, Tokyo, Japan, in 1998 and the M.S. and Ph.D. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2003 and 2006, respectively.
He is currently a Research Engineer at the Los Amigos Research and Education Institute, Downey, CA. His research interests are in robot design, control, and appli...Show More
Daisuke Aoyagi received the B.Eng. degree in mechanical engineering from the Waseda University, Tokyo, Japan, in 1998 and the M.S. and Ph.D. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2003 and 2006, respectively.
He is currently a Research Engineer at the Los Amigos Research and Education Institute, Downey, CA. His research interests are in robot design, control, and appli...View more
Los Amigos Research and Education Institute, Downey, CA, USA
Wade E. Ichinose received the B.S. and M.S. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2002 and 2005, respectively.
He is currently a Research Engineer at Los Amigos Research and Education Institute, Downey, CA, where he began work in 2005 and started development on the second generation of the PAM/POGO device.
Wade E. Ichinose received the B.S. and M.S. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2002 and 2005, respectively.
He is currently a Research Engineer at Los Amigos Research and Education Institute, Downey, CA, where he began work in 2005 and started development on the second generation of the PAM/POGO device.View more
Frazier Rehab Institute, University of Louisville, Louisville, KY, USA
Susan J. Harkema received the B.S. and Ph.D. degrees in physiology from Michigan State University, East Lansing, and postdoctoral fellowship in neurology at the University of California, Los Angeles.
She was an Assistant Professor in the Department of Neurology and the Brain Research Institute. Currently she is an associate professor in the University of Louisville School of Medicine's Department of Neurological Surgery. S...Show More
Susan J. Harkema received the B.S. and Ph.D. degrees in physiology from Michigan State University, East Lansing, and postdoctoral fellowship in neurology at the University of California, Los Angeles.
She was an Assistant Professor in the Department of Neurology and the Brain Research Institute. Currently she is an associate professor in the University of Louisville School of Medicine's Department of Neurological Surgery. S...View more
University of California, Irvine, CA, USA
David J. Reinkensmeyer (S'93–M'93) received the B.S. degree in electrical engineering from the Massachusetts Institute of Technology, Cambridge, in 1988, and the M.S. and Ph.D. degrees in electrical engineering from the University of California, Berkeley, in 1991 and 1993, respectively.
David J. Reinkensmeyer (S'93–M'93) received the B.S. degree in electrical engineering from the Massachusetts Institute of Technology, Cambridge, in 1988, and the M.S. and Ph.D. degrees in electrical engineering from the University of California, Berkeley, in 1991 and 1993, respectively.View more
University of California, Irvine, CA, USA
James E. Bobrow (M'85) received the Ph.D. degree from the University of California, Los Angeles, in 1983.
He is a Professor of Mechanical and Aerospace Engineering at the University of California, Irvine (UCI). After graduate school, he was a Senior Programmer Analyst at McDonnell Douglas Automation Company, where he developed CAM software for the Unigraphics system. He joined UCI as an Assistant Professor in 1984. While a...Show More
James E. Bobrow (M'85) received the Ph.D. degree from the University of California, Los Angeles, in 1983.
He is a Professor of Mechanical and Aerospace Engineering at the University of California, Irvine (UCI). After graduate school, he was a Senior Programmer Analyst at McDonnell Douglas Automation Company, where he developed CAM software for the Unigraphics system. He joined UCI as an Assistant Professor in 1984. While a...View more
Contents Los Amigos Research and Education Institute, Downey, CA, USA
Daisuke Aoyagi received the B.Eng. degree in mechanical engineering from the Waseda University, Tokyo, Japan, in 1998 and the M.S. and Ph.D. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2003 and 2006, respectively.
He is currently a Research Engineer at the Los Amigos Research and Education Institute, Downey, CA. His research interests are in robot design, control, and application in rehabilitation.
Daisuke Aoyagi received the B.Eng. degree in mechanical engineering from the Waseda University, Tokyo, Japan, in 1998 and the M.S. and Ph.D. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2003 and 2006, respectively.
He is currently a Research Engineer at the Los Amigos Research and Education Institute, Downey, CA. His research interests are in robot design, control, and application in rehabilitation.View more
Los Amigos Research and Education Institute, Downey, CA, USA
Wade E. Ichinose received the B.S. and M.S. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2002 and 2005, respectively.
He is currently a Research Engineer at Los Amigos Research and Education Institute, Downey, CA, where he began work in 2005 and started development on the second generation of the PAM/POGO device.
Wade E. Ichinose received the B.S. and M.S. degrees in mechanical and aerospace engineering from the University of California, Irvine, in 2002 and 2005, respectively.
He is currently a Research Engineer at Los Amigos Research and Education Institute, Downey, CA, where he began work in 2005 and started development on the second generation of the PAM/POGO device.View more
Frazier Rehab Institute, University of Louisville, Louisville, KY, USA
Susan J. Harkema received the B.S. and Ph.D. degrees in physiology from Michigan State University, East Lansing, and postdoctoral fellowship in neurology at the University of California, Los Angeles.
She was an Assistant Professor in the Department of Neurology and the Brain Research Institute. Currently she is an associate professor in the University of Louisville School of Medicine's Department of Neurological Surgery. She serves as Rehabilitation Director of the Kentucky Spinal Cord Injury Research Center and Director of Research at Frazier Rehab Institute. The focus of her research is to study neural mechanisms for human locomotion and the level of plasticity after neurologic injury.
Susan J. Harkema received the B.S. and Ph.D. degrees in physiology from Michigan State University, East Lansing, and postdoctoral fellowship in neurology at the University of California, Los Angeles.
She was an Assistant Professor in the Department of Neurology and the Brain Research Institute. Currently she is an associate professor in the University of Louisville School of Medicine's Department of Neurological Surgery. She serves as Rehabilitation Director of the Kentucky Spinal Cord Injury Research Center and Director of Research at Frazier Rehab Institute. The focus of her research is to study neural mechanisms for human locomotion and the level of plasticity after neurologic injury.View more
University of California, Irvine, CA, USA
David J. Reinkensmeyer (S'93–M'93) received the B.S. degree in electrical engineering from the Massachusetts Institute of Technology, Cambridge, in 1988, and the M.S. and Ph.D. degrees in electrical engineering from the University of California, Berkeley, in 1991 and 1993, respectively.
David J. Reinkensmeyer (S'93–M'93) received the B.S. degree in electrical engineering from the Massachusetts Institute of Technology, Cambridge, in 1988, and the M.S. and Ph.D. degrees in electrical engineering from the University of California, Berkeley, in 1991 and 1993, respectively.View more
University of California, Irvine, CA, USA
James E. Bobrow (M'85) received the Ph.D. degree from the University of California, Los Angeles, in 1983.
He is a Professor of Mechanical and Aerospace Engineering at the University of California, Irvine (UCI). After graduate school, he was a Senior Programmer Analyst at McDonnell Douglas Automation Company, where he developed CAM software for the Unigraphics system. He joined UCI as an Assistant Professor in 1984. While at UCI, his research interests have included optimal control and motion planning for robots, design of pneumatic actuators and sensors for automation systems, robots for rehabilitation, and machine learning systems. He has also been a Visiting Professor in Computer Science at Stanford University and in Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, and he has created robots and automation devices for several startup companies, including Robomedica, Inc., and Cobra Technologies.
Prof. Bobrow is an Associate Editor of the IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics. He has served on the program committees or organizing committees of the leading conferences in control systems and robotics. He is currently on the egineering steering committee for Robomedica, Inc.
James E. Bobrow (M'85) received the Ph.D. degree from the University of California, Los Angeles, in 1983.
He is a Professor of Mechanical and Aerospace Engineering at the University of California, Irvine (UCI). After graduate school, he was a Senior Programmer Analyst at McDonnell Douglas Automation Company, where he developed CAM software for the Unigraphics system. He joined UCI as an Assistant Professor in 1984. While at UCI, his research interests have included optimal control and motion planning for robots, design of pneumatic actuators and sensors for automation systems, robots for rehabilitation, and machine learning systems. He has also been a Visiting Professor in Computer Science at Stanford University and in Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, and he has created robots and automation devices for several startup companies, including Robomedica, Inc., and Cobra Technologies.
Prof. Bobrow is an Associate Editor of the IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics. He has served on the program committees or organizing committees of the leading conferences in control systems and robotics. He is currently on the egineering steering committee for Robomedica, Inc.View more
