A robot-based hybrid lower limb system for Assist-As-Needed rehabilitation of stroke patients: Technical evaluation and clinical feasibility.

Journal: Computers in biology and medicine
Published Date: Jul 12, 2024

Abstract

BACKGROUND: Although early rehabilitation is important following a stroke, severely affected patients have limited options for intensive rehabilitation as they are often bedridden. To create a system for early rehabilitation of lower extremities in these patients, we combined the robotic manipulator ROBERT® with electromyography (EMG)-triggered functional electrical stimulation (FES) and developed a novel user-driven Assist-As-Needed (AAN) control. The method is based on a state machine able to detect user movement capability, assessed by the presence of an EMG-trigger and the movement velocity, and provide different levels of assistance as required by the patient (no support, FES only, and simultaneous FES and mechanical assistance).

Authors

  • Kasper S Leerskov
  • Cindy J H Rikhof
    Roessingh Research and Development, Enschede, 7522AH, The Netherlands; Faculty of Engineering Technology, Department of Biomechanical Engineering, University of Twente, Enschede, 7500AE, The Netherlands.
  • Erika G Spaich
    Center for Sensory-Motor Interaction (SMI), Department of Health Science and Technology, Aalborg University, Fredrik Bajers Vej 7 D-3, Aalborg, DK 9220, Denmark. espaich@hst.aau.dk.
  • Strahinja Dosen
  • Gerdienke B Prange-Lasonder
  • Erik C Prinsen
  • Johan S Rietman
    Roessingh Research and Development, Roessinghsbleekweg 33b, 7522 AH, Enschede, The Netherlands. j.s.rietman@rrd.nl.
  • Lotte N S Andreasen Struijk

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