Development of Wearable Cyborg HAL Ankle Joint Unit to improve ankle joint function during gait
Summary
This study developed an intention-based ankle joint unit for cybernics (Cybernetics) treatment of HAL (Hybrid Assistive Limb) to improve gait in spinal cord injury patients. The device significantly increased gait speed and stride length after two weeks of use.
Area of Science:
- Neuroscience and Rehabilitation Engineering
- Biomedical device development for neurological disorders
Background:
- Central nervous system disorders like spinal cord injury impair voluntary movement and gait.
- Current HAL devices have passive ankle joints, limiting gait function improvement.
- Patient intention is crucial for effective gait rehabilitation.
Purpose of the Study:
- To develop an attachable ankle joint unit for HAL enabling intention-based plantarflexion and dorsiflexion.
- To evaluate the applicability of this unit for improving gait function in individuals with spinal cord injury.
Main Methods:
- Developed a novel ankle joint unit using a four-bar linkage mechanism and parallelogram structure.
- Implemented a control system integrating bioelectrical signals (gastrocnemius, tibialis muscles) and ground reaction forces.
- Conducted a two-week intervention study with an individual with spinal cord injury (4 sessions/week).
Main Results:
- The developed ankle joint unit demonstrated improved gait function.
- The spinal cord injury participant showed a 1.47x increase in gait speed.
- Stride length increased by 1.34x following the two-week intervention.
Conclusions:
- The developed intention-based ankle joint unit is applicable for enhancing gait function in spinal cord injury rehabilitation.
- This technology holds promise for improving mobility and quality of life for patients with neurological disorders.
- Further research can explore broader applications in neurorehabilitation.
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