Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

J.F. Veneman, R. Kruidhof, Edsko E.G. Hekman, R. Ekkelenkamp, Edwin H.F. van Asseldonk, Herman van der Kooij

Research output: Contribution to journalArticleAcademicpeer-review

214 Downloads (Pure)

Abstract

This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "pa- tient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.
Original languageUndefined
Pages (from-to)379-386
Number of pages8
JournalIEEE transactions on neural systems and rehabilitation engineering
Volume15
Issue number3
DOIs
Publication statusPublished - 2007

Keywords

  • IR-58121
  • METIS-240896

Cite this

@article{342435c7e4f94603946e6db713857d33,
title = "Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation",
abstract = "This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a {"}pa- tient-in-charge{"} and {"}robot-in-charge{"} mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.",
keywords = "IR-58121, METIS-240896",
author = "J.F. Veneman and R. Kruidhof and Hekman, {Edsko E.G.} and R. Ekkelenkamp and {van Asseldonk}, {Edwin H.F.} and {van der Kooij}, Herman",
year = "2007",
doi = "10.1109/TNSRE.2007.903919",
language = "Undefined",
volume = "15",
pages = "379--386",
journal = "IEEE transactions on neural systems and rehabilitation engineering",
issn = "1534-4320",
publisher = "IEEE",
number = "3",

}

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation. / Veneman, J.F.; Kruidhof, R.; Hekman, Edsko E.G.; Ekkelenkamp, R.; van Asseldonk, Edwin H.F.; van der Kooij, Herman.

In: IEEE transactions on neural systems and rehabilitation engineering, Vol. 15, No. 3, 2007, p. 379-386.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

AU - Veneman, J.F.

AU - Kruidhof, R.

AU - Hekman, Edsko E.G.

AU - Ekkelenkamp, R.

AU - van Asseldonk, Edwin H.F.

AU - van der Kooij, Herman

PY - 2007

Y1 - 2007

N2 - This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "pa- tient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.

AB - This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "pa- tient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis.

KW - IR-58121

KW - METIS-240896

U2 - 10.1109/TNSRE.2007.903919

DO - 10.1109/TNSRE.2007.903919

M3 - Article

VL - 15

SP - 379

EP - 386

JO - IEEE transactions on neural systems and rehabilitation engineering

JF - IEEE transactions on neural systems and rehabilitation engineering

SN - 1534-4320

IS - 3

ER -