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Exploring multimodal gait rehabilitation and assistance through an adaptable robotic platform

Otálora, Sophia; Sierra, Sergio D; Ballén-Moreno, Felipe; Munera, Marcela; Cifuentes, Carlos A

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Authors

Sophia Otálora

Sergio D Sierra

Felipe Ballén-Moreno

Marcela Munera



Abstract

Lower-limb exoskeletons and smart walkers are robotic devices to assist patients in regaining their autonomy after a stroke. The integration of these devices enables gait rehabilitation and functional compensation, promoting natural over-ground walking. This article presents the Adaptable Robotic Platform for Gait Rehabilitation and Assistance (AGoRA V2 platform), which integrates the new AGoRA V2 Smart Walker and the AGoRA V2 unilateral lower-limb exoskeleton. It was evaluated with 14 healthy subjects using physiological and kinematic variables and a perception assessment. The study entailed four conditions: Without exoskeleton (WOE), With Exoskeleton (WE&T), With Walker (WW), and With Platform (WP). Results indicate a reduction in the muscle activity of the Rectus Femoris (18%) and Vastus Lateralis (15%), comparing WE&T and WP, as well as walking without any device (WOE) and using any robotic device (WE&T, WW, WP). Results suggest the importance of combining the exoskeleton with the robotic walker and the assistance of each device independently. Moreover, using the complete platform induces slower gait patterns than the walker, as the mean impulse force and linear velocity decrease by 42% and 44%, respectively. These results demonstrate that the platform contributes to safety, and improvements in gait parameters and muscular activity, indicating the system's potential to act as a modular device according to users' conditions and therapeutic goals.

Presentation Conference Type Conference Paper (published)
Conference Name 2023 IEEE International Conference on Robotics and Automation (ICRA)
Start Date May 29, 2023
End Date Jun 2, 2023
Acceptance Date Jan 17, 2023
Online Publication Date Jul 4, 2023
Publication Date Jul 4, 2023
Deposit Date Feb 27, 2023
Publicly Available Date Jul 5, 2025
Publisher Institute of Electrical and Electronics Engineers
Volume 2023-May
Pages 10449-10456
Book Title 2023 IEEE International Conference on Robotics and Automation (ICRA)
ISBN 9798350323665
DOI https://doi.org/10.1109/icra48891.2023.10160867
Public URL https://uwe-repository.worktribe.com/output/10486926
Related Public URLs https://ieeexplore.ieee.org/xpl/conhome/1000639/all-proceedings

https://www.icra2023.org/

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© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.





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