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Variable Damping Force Tunnel for Gait Training Using ALEX III.

Paul Stegall1, Damiano Zanotto2, Sunil K Agrawal1

  • 1Robotics and Rehabilitation Laboratory, Columbia University, New York, NY 10027.

IEEE Robotics and Automation Letters
|November 8, 2017
PubMed
Summary

This study on robotic gait trainers found that haptic feedback, specifically variable damping, can induce gait adaptations in healthy individuals. Higher damping strength led to better path following.

Keywords:
Haptics and Haptic InterfacesProsthetics and ExoskeletonsRehabilitation Robotics

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Area of Science:

  • Robotics
  • Biomechanics
  • Human-Computer Interaction

Background:

  • Haptic feedback is crucial for robotic gait trainer design and training effectiveness.
  • The physical design of trainers is influenced by force application and damping characteristics.

Purpose of the Study:

  • To design a variable damping force tunnel for robotic gait trainers.
  • To investigate the effects of damping field shape (linear vs. parabolic) and strength (high vs. low) on gait adaptations.

Main Methods:

  • Developed a variable damping force tunnel integrated with the ALEX III exoskeleton.
  • 32 healthy subjects trained for 40 minutes, following a path with increased step height.
  • Subjects were divided into four groups based on damping field shape and strength.

Main Results:

  • The controller successfully induced gait adaptations in all subject groups.
  • All groups adapted their step height.
  • Groups with high damping strength showed significant changes in normalized error area, indicating improved path following.

Conclusions:

  • Variable damping force controllers can effectively induce gait adaptations in healthy individuals using robotic exoskeletons.
  • Damping field strength is a key factor influencing the degree of gait adaptation and path accuracy.