A Highly Backdrivable, Lightweight Knee Actuator for Investigating Gait in Stroke.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
James S SulzerJames L Patton

Abstract

Many of those who survive a stroke develop a gait disability known as stiff-knee gait (SKG). Characterized by reduced knee flexion angle during swing, people with SKG walk with poor energy efficiency and asymmetry due to the compensatory mechanisms required to clear the foot. Previous modeling studies have shown that knee flexion activity directly before the foot leaves the ground, and this should result in improved knee flexion angle during swing. The goal of this research is to physically test this hypothesis using robotic intervention. We developed a device that is capable of assisting knee flexion torque before swing but feels imperceptible (transparent) for the rest of the gait cycle. This device uses sheathed Bowden cable to control the deflection of a compliant torsional spring in a configuration known as a Series Elastic Remote Knee Actuator (SERKA). In this investigation, we describe the design and evaluation of SERKA, which includes a pilot experiment on stroke subjects. SERKA could supply a substantial torque (12 N· m) in less than 20 ms, with a maximum torque of 41 N·m. The device resisted knee flexion imperceptibly when desired, at less than 1 N·m rms torque during normal gait. With the remote location of the actua...Continue Reading

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Citations

May 23, 2014·IEEE Transactions on Bio-medical Engineering·Kamran ShamaeiAaron M Dollar
Nov 30, 2012·IEEE Transactions on Cybernetics·Shahid HussainPrashant K Jamwal
Jan 6, 2016·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Jos MeulemanHerman van der Kooij
Jun 25, 2009·Journal of Neuroengineering and Rehabilitation·Gregory S Sawicki, Daniel P Ferris
Jun 26, 2010·Stroke; a Journal of Cerebral Circulation·James S SulzerJames L Patton
Dec 18, 2013·Journal of Biomechanical Engineering·Joshua M Caputo, Steven H Collins
Jan 29, 2016·Annals of Biomedical Engineering·Edward P WashabaughChandramouli Krishnan
Aug 28, 2020·Journal of Neuroengineering and Rehabilitation·Tunc AkbasJames Sulzer
Jan 1, 2015·Applied Bionics and Biomechanics·Kevin M FoglyanoRonald J Triolo
Jul 29, 2020·Frontiers in Neurorobotics·Zhinan PengHong Cheng
Sep 11, 2018·Frontiers in Robotics and AI·Svetlana GrosuDirk Lefeber
Jul 14, 2021·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Fahad HussainMasoud Mohammadian

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