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Safety concept for robotic gait trainers.

H Schmidt1, S Hesse, R Bernhardt

  • 1Dept. of Neurological Rehabilitation, Univ. Hosp. Charite, Berlin, Germany.

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
|February 3, 2007
PubMed
Summary

A new safety concept enhances robotic walking simulators for gait rehabilitation. This system uses programmable footplates with redundant safety measures to protect patients during therapy.

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Area of Science:

  • Robotics
  • Rehabilitation Engineering
  • Biomechanics

Background:

  • Robotic gait rehabilitation devices vary in complexity and safety considerations.
  • Programmable footplate walking simulators require powerful drives to support full body weight, posing unique safety challenges.
  • Existing robotic systems like exoskeletons or hand devices have different safety profiles due to their design and application.

Purpose of the Study:

  • To introduce a novel safety concept for programmable footplate robotic walking simulators.
  • To address the inherent safety risks associated with powerful drives in full-body weight support systems.
  • To enhance patient safety during gait rehabilitation using robotic walking simulators.

Main Methods:

  • Development of redundant algorithms and devices integrated into real-time robot control software.

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  • Implementation of electrical emergency stop circuitry for immediate system shutdown.
  • Mechanical design incorporating passive security features, including enclosed moving parts and a novel foot safety release binding.
  • Integration of an ankle goniometer with adjustable emergency stop limit switches to monitor and restrict ankle range of motion.

    • Main Results:

    • A comprehensive safety concept combining software, electrical, and mechanical safety measures.
    • A newly developed foot safety release binding allowing multi-directional release in the sagittal plane.
    • Ankle range-of-motion control via a goniometer with integrated emergency stop limit switches.
    • Enhanced passive security through machine design covering all moving components.

    Conclusions:

    • The developed safety concept significantly improves the safety of robotic walking simulators with programmable footplates.
    • Redundant safety systems, including a novel release binding and ankle motion control, mitigate risks associated with powerful robotic drives.
    • This approach provides a safer environment for patients undergoing gait rehabilitation with advanced robotic technology.