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Exoskeleton Ankle Robot for Robot-As...

Yeung, Ling Fung.

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Exoskeleton Ankle Robot for Robot-Assisted Gait Training of Stroke Patients with Foot Drop.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Exoskeleton Ankle Robot for Robot-Assisted Gait Training of Stroke Patients with Foot Drop./
作者:	Yeung, Ling Fung.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2018,
面頁冊數:	187 p.
附註:	Source: Dissertations Abstracts International, Volume: 80-08, Section: B.
Contained By:	Dissertations Abstracts International80-08B.
標題:	Physical therapy. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=13837932
ISBN:	9780438852303

Exoskeleton Ankle Robot for Robot-Assisted Gait Training of Stroke Patients with Foot Drop.
Yeung, Ling Fung.

Exoskeleton Ankle Robot for Robot-Assisted Gait Training of Stroke Patients with Foot Drop. - Ann Arbor : ProQuest Dissertations & Theses, 2018 - 187 p.

Source: Dissertations Abstracts International, Volume: 80-08, Section: B.

Thesis (Ph.D.)--The Chinese University of Hong Kong (Hong Kong), 2018.

This item must not be sold to any third party vendors.

Intensive, repetitive, and task-specific gait training could enhance gait recovery of stroke patients through experience-driven neuroplasticity. Many designs of robot-assisted ankle foot orthosis (AFO) have been proposed by different research groups, but few studies investigated the long-term therapeutic effects of wearing the device for robot-assisted gait training (RAGT) of stroke patients with foot drop gait abnormality. Lightweight and portability are the major challenges in the clinical application. The robotic adaptability to changing walking environments, such as overground walking and stair ambulation, could encourage user autonomy and active participation in gait training, which is important to gait recovery, but lacking in the existing designs. In this study, the Exoskeleton Ankle Robot was designed and developed as a lightweight (0.5kg at ankle, 0.5kg at waist) and portable (energetically autonomous) robot-assisted AFO for RAGT of stroke patients presenting with foot drop gait abnormality. The robotic system can detect gait phases using force sensitive resistors (FSR) under foot sole and can classify user walking intentions (Level Walk, Stair Ascend, Stair Descend) from gait features (leg tilt angle and leg angular velocity at pre-swing phase) acquired using inertial measurement unit (IMU). This rehabilitation robot can provide calibrated powered assistance just sufficient to facilitate active voluntary residual ankle movement, synchronized to the user gait phase in overground walking and stair ambulation. During RAGT, the highly repetitive and salient active assistance from the intention-driven robot-assisted AFO might enhance the experience-driven neuroplasticity for gait recovery. The feasibility and efficacy of its clinical application was tested and verified in this study. A preliminary study was carried out to evaluate the immediate effects of walking with the robot-assisted AFO on the gait pattern of chronic stroke patients with foot drop (n=9). The robot-assisted AFO could provide active ankle dorsiflexion assistance to facilitate foot clearance synchronized to swing phase, while the robot did not impede ankle movement in stance phase. A randomized controlled trial (RCT) was conducted to evaluate the long-term therapeutic effects of the Exoskeleton Ankle Robot. Nineteen chronic stroke patients with foot drop participated in 20-session RAGT wearing the robot-assisted AFO in Robotic Group (n=9) and wearing passive AFO in Sham Group (n=10). After 20-session gait training, the Robotic Group had significantly greater improvement in gait independency (all patients had Functional Ambulatory Category FAC≥5 post-training and 3-month follow-up). Gait analysis showed the Robotic Group had greater gait confidence in weight acceptance with heel strike touchdown at initial contact. The performance of the gait mode classifier of the robot-assisted AFO was evaluated on gait features acquired from chronic stroke patients (n=15) during the RCT study of the 20-session RAGT. SVM classifier model could classify user walking intentions (Level Walk, Stair Ascend, Stair Descend) accurately and reliably (accuracy≥99%). To conclude, the current study demonstrated feasibility and efficacy of the Exoskeleton Ankle Robot as a new intervention for stroke patients with foot drop. A larger-scale multi-centre RCT should be implemented on sub-acute stroke patients in the future study.

ISBN: 9780438852303Subjects--Topical Terms:

588713
Physical therapy.
Subjects--Index Terms:

Ankle foot orthosis

Exoskeleton Ankle Robot for Robot-Assisted Gait Training of Stroke Patients with Foot Drop.
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520 $a Intensive, repetitive, and task-specific gait training could enhance gait recovery of stroke patients through experience-driven neuroplasticity. Many designs of robot-assisted ankle foot orthosis (AFO) have been proposed by different research groups, but few studies investigated the long-term therapeutic effects of wearing the device for robot-assisted gait training (RAGT) of stroke patients with foot drop gait abnormality. Lightweight and portability are the major challenges in the clinical application. The robotic adaptability to changing walking environments, such as overground walking and stair ambulation, could encourage user autonomy and active participation in gait training, which is important to gait recovery, but lacking in the existing designs. In this study, the Exoskeleton Ankle Robot was designed and developed as a lightweight (0.5kg at ankle, 0.5kg at waist) and portable (energetically autonomous) robot-assisted AFO for RAGT of stroke patients presenting with foot drop gait abnormality. The robotic system can detect gait phases using force sensitive resistors (FSR) under foot sole and can classify user walking intentions (Level Walk, Stair Ascend, Stair Descend) from gait features (leg tilt angle and leg angular velocity at pre-swing phase) acquired using inertial measurement unit (IMU). This rehabilitation robot can provide calibrated powered assistance just sufficient to facilitate active voluntary residual ankle movement, synchronized to the user gait phase in overground walking and stair ambulation. During RAGT, the highly repetitive and salient active assistance from the intention-driven robot-assisted AFO might enhance the experience-driven neuroplasticity for gait recovery. The feasibility and efficacy of its clinical application was tested and verified in this study. A preliminary study was carried out to evaluate the immediate effects of walking with the robot-assisted AFO on the gait pattern of chronic stroke patients with foot drop (n=9). The robot-assisted AFO could provide active ankle dorsiflexion assistance to facilitate foot clearance synchronized to swing phase, while the robot did not impede ankle movement in stance phase. A randomized controlled trial (RCT) was conducted to evaluate the long-term therapeutic effects of the Exoskeleton Ankle Robot. Nineteen chronic stroke patients with foot drop participated in 20-session RAGT wearing the robot-assisted AFO in Robotic Group (n=9) and wearing passive AFO in Sham Group (n=10). After 20-session gait training, the Robotic Group had significantly greater improvement in gait independency (all patients had Functional Ambulatory Category FAC≥5 post-training and 3-month follow-up). Gait analysis showed the Robotic Group had greater gait confidence in weight acceptance with heel strike touchdown at initial contact. The performance of the gait mode classifier of the robot-assisted AFO was evaluated on gait features acquired from chronic stroke patients (n=15) during the RCT study of the 20-session RAGT. SVM classifier model could classify user walking intentions (Level Walk, Stair Ascend, Stair Descend) accurately and reliably (accuracy≥99%). To conclude, the current study demonstrated feasibility and efficacy of the Exoskeleton Ankle Robot as a new intervention for stroke patients with foot drop. A larger-scale multi-centre RCT should be implemented on sub-acute stroke patients in the future study.
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