Deans' stroke musings: A 6DOF Gait Rehabilitation Robot With Upper and Lower Limb Connections That Allows Walking Velocity Updates on Various Terrains

Changing stroke rehab and research worldwide now.Time is Brain! trillions and trillions of neurons that DIE each day because there are NO effective hyperacute therapies besides tPA(only 12% effective). I have 523 posts on hyperacute therapy, enough for researchers to spend decades proving them out. These are my personal ideas and blog on stroke rehabilitation and stroke research. Do not attempt any of these without checking with your medical provider. Unless you join me in agitating, when you need these therapies they won't be there.

What this blog is for:

My blog is not to help survivors recover, it is to have the 10 million yearly stroke survivors light fires underneath their doctors, stroke hospitals and stroke researchers to get stroke solved. 100% recovery. The stroke medical world is completely failing at that goal, they don't even have it as a goal. Shortly after getting out of the hospital and getting NO information on the process or protocols of stroke rehabilitation and recovery I started searching on the internet and found that no other survivor received useful information. This is an attempt to cover all stroke rehabilitation information that should be readily available to survivors so they can talk with informed knowledge to their medical staff. It lays out what needs to be done to get stroke survivors closer to 100% recovery. It's quite disgusting that this information is not available from every stroke association and doctors group.

Monday, February 10, 2020

A 6DOF Gait Rehabilitation Robot With Upper and Lower Limb Connections That Allows Walking Velocity Updates on Various Terrains

Two bad points in this research.

1. It needs to be redone using stroke patients.

2. Stroke patients with spasticity do not swing their arms naturally, you should have known that.

A 6DOF Gait Rehabilitation Robot With Upper and Lower Limb Connections That Allows Walking Velocity Updates on Various Terrains

Jungwon Yoon
, Member, IEEE
, Bondhan Novandy, Chul-Ho Yoon, and Ki-Jong Park

Abstract

—This paper presents a 6-DOFgait rehabilitation robot that allows patients to update their walking velocity on various terrain types and navigate in virtual environments (VEs) through upper and lower limb connections. This robot is composed of an upper limb device, a sliding device, two foot pad devices, and a body support system. The foot pad device on the sliding device generates 3-DOF spatial motions on the sagittal plane for each foot.This allows the generation of various terrain types for diverse walking training. The upper limb device allows users to swing their arms naturally through the use of a simple pendulum link with a passive prismatic joint. Synchronized gait patterns for this robot are designed to represent a normal gait with upper and lower limb connections. To permit patients to walk at will, this robot allows walking velocity updates for various terrain types by estimating the interaction torques between the human and the upper limb device, and synchronizing the lower limb device with the upper limb device. In addition, the patient is able to navigate in VEs by generating turning commands with switches located in the handles of the upper limb device. Experimental results using a healthy subject show that the user can update the walking velocity on level ground, slopes, and stairs through upper and lower limb connections. In addition, the user could navigate in the VEs with walking velocity updates and turning input command allowing various rehabilitation training modes. During a pilot clinical test,a hemiplegic patient could use the suggested gait rehabilitation robot with a slow walking speed. The rehabilitation plan was also suggested for the patient and the possible therapeutic effects of the suggested rehabilitation robot system are discussed.