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Design of Human-Machine Interface and Altering of Pelvic Obliquity With RGR Trainer

By Pietrusinski, Maciej; Unluhisarcikli, Ozer; Mavroidis, Constantinos; Cajigas, Iahn; Bonato, Paolo; 2011 IEEE International Conference on Rehabilitation Robotics,
Publication Date: June 2011

Paper describes the development of the Human-Machine Interface (HMI), a robotic exoskeleton designed to be interfaced with the Robotic Gait Rehabilitation (RGR) Trainer. The RGR Trainer targets secondary gait deviations in stroke patients undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the RGR Trainer generates a force field to control pelvic obliquity, or malalignment of the pelvic girdle, through the HMI. The HMI comprises a pelvic brace which wraps around the wearer’s waist and is coupled to two leg braces and to the RGR Trainer’s actuation system via rotational joints. The leg braces were built using DonJoy post-op TROM knee braces and Velocity ankle braces. Several features of the HMI can be adjusted to fit the wearer’s anatomy, such as hip brace width, position of the brace around the waist, vertical position of the remote centers of rotation, and the distances of hip joint to knee joint and knee joint to ankle joint. To test the RGR Trainer’s ability to promote altering of gait patterns, the trajectory of the pelvis during ambulation of 18 stroke survivors exhibiting hip-hiking was analyzed and used to induce a hip-hiking gait pattern in three study participants without disabilities wearing the system. Results showed that the RGR Trainer generated a force field to control pelvic obliquity through the HMI. These results were suggestive of the RGR Trainer’s ability to affect pelvic obliquity during gait, with preliminary evidence of short term retention of the modified pelvic obliquity pattern. Implications for future research are discussed.
Published by: IEEE Engineering in Medicine and Biology Society   (Website:http://www.embs.org)

Link to text: http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3306220/?tool=pubmed
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