Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton

E.H.F. van Asseldonk, A. Emmens, T.J.H. Brug, I. Pisotta, M. Arquilla, F. Tamburella, M. Masciullo, N. L. Tagliamonte, R. Valette, M. Molinari, H. van der Kooij

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Improving stability of people wearing a lower extremity Wearable Exoskeleton (WE) is one of the biggest challenges in the field. The goal of this preliminary study was to improve balance recovery from perturbations in people with incomplete Spinal Cord Injury (SCI) assisted by a WE with specifically developed balance controller. The WE has actuated ankle and knee joints, which were controlled by using a body sway-based balance controller. Two test pilots participated in 5 training sessions, devoted to enhance the use of the robot, and in pre/post assessments. Their balance during quiet standing was perturbed through pushes in forward direction. The controller was effective in supporting balance recovery in both tests pilots as reflected by a smaller sway amplitude and recovery time when compared with a minimal impedance controller. Moreover, the training resulted in a further reduction of the sway amplitude and recovery time in one of the test pilots whereas it had not an additional beneficial effect for the other subject. In conclusion, the novel balance controller can effectively assist people with incomplete SCI in maintaining standing balance and a dedicated training has the potential to further improve balance.

LanguageEnglish
Title of host publicationWearable Robotics: Challenges and Trends
Subtitle of host publicationProceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy
EditorsMaria Chiara Carrozza, Silvestro Micera, José L. Pons
Place of PublicationCham
PublisherSpringer
Pages334-338
Number of pages5
ISBN (Electronic)978-3-030-01887-0
ISBN (Print)978-3-030-01886-3
DOIs
StatePublished - 1 Jan 2019
Event4th International Symposium on Wearable Robotics 2018 - Pisa, Italy
Duration: 16 Oct 201820 Oct 2018
Conference number: 4
http://www.werob2018.org/

Publication series

NameBiosystems and Biorobotics
Volume22
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

Conference

Conference4th International Symposium on Wearable Robotics 2018
Abbreviated titleWeRob 2018
CountryItaly
CityPisa
Period16/10/1820/10/18
Internet address

Fingerprint

Recovery
Controllers
Robots

Cite this

van Asseldonk, E. H. F., Emmens, A., Brug, T. J. H., Pisotta, I., Arquilla, M., Tamburella, F., ... van der Kooij, H. (2019). Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton. In M. C. Carrozza, S. Micera, & J. L. Pons (Eds.), Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy (pp. 334-338). (Biosystems and Biorobotics; Vol. 22). Cham: Springer. DOI: 10.1007/978-3-030-01887-0_64
van Asseldonk, E.H.F. ; Emmens, A. ; Brug, T.J.H. ; Pisotta, I. ; Arquilla, M. ; Tamburella, F. ; Masciullo, M. ; Tagliamonte, N. L. ; Valette, R. ; Molinari, M. ; van der Kooij, H./ Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton. Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy. editor / Maria Chiara Carrozza ; Silvestro Micera ; José L. Pons. Cham : Springer, 2019. pp. 334-338 (Biosystems and Biorobotics).
@inproceedings{b3c0bb3735b3427c98857289ed17204c,
title = "Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton",
abstract = "Improving stability of people wearing a lower extremity Wearable Exoskeleton (WE) is one of the biggest challenges in the field. The goal of this preliminary study was to improve balance recovery from perturbations in people with incomplete Spinal Cord Injury (SCI) assisted by a WE with specifically developed balance controller. The WE has actuated ankle and knee joints, which were controlled by using a body sway-based balance controller. Two test pilots participated in 5 training sessions, devoted to enhance the use of the robot, and in pre/post assessments. Their balance during quiet standing was perturbed through pushes in forward direction. The controller was effective in supporting balance recovery in both tests pilots as reflected by a smaller sway amplitude and recovery time when compared with a minimal impedance controller. Moreover, the training resulted in a further reduction of the sway amplitude and recovery time in one of the test pilots whereas it had not an additional beneficial effect for the other subject. In conclusion, the novel balance controller can effectively assist people with incomplete SCI in maintaining standing balance and a dedicated training has the potential to further improve balance.",
author = "{van Asseldonk}, E.H.F. and A. Emmens and T.J.H. Brug and I. Pisotta and M. Arquilla and F. Tamburella and M. Masciullo and Tagliamonte, {N. L.} and R. Valette and M. Molinari and {van der Kooij}, H.",
year = "2019",
month = "1",
day = "1",
doi = "10.1007/978-3-030-01887-0_64",
language = "English",
isbn = "978-3-030-01886-3",
series = "Biosystems and Biorobotics",
publisher = "Springer",
pages = "334--338",
editor = "Carrozza, {Maria Chiara} and Silvestro Micera and Pons, {Jos{\'e} L.}",
booktitle = "Wearable Robotics: Challenges and Trends",

}

van Asseldonk, EHF, Emmens, A, Brug, TJH, Pisotta, I, Arquilla, M, Tamburella, F, Masciullo, M, Tagliamonte, NL, Valette, R, Molinari, M & van der Kooij, H 2019, Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton. in MC Carrozza, S Micera & JL Pons (eds), Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy. Biosystems and Biorobotics, vol. 22, Springer, Cham, pp. 334-338, 4th International Symposium on Wearable Robotics 2018, Pisa, Italy, 16/10/18. DOI: 10.1007/978-3-030-01887-0_64

Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton. / van Asseldonk, E.H.F.; Emmens, A.; Brug, T.J.H.; Pisotta, I.; Arquilla, M.; Tamburella, F.; Masciullo, M.; Tagliamonte, N. L.; Valette, R.; Molinari, M.; van der Kooij, H.

Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy. ed. / Maria Chiara Carrozza; Silvestro Micera; José L. Pons. Cham : Springer, 2019. p. 334-338 (Biosystems and Biorobotics; Vol. 22).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton

AU - van Asseldonk,E.H.F.

AU - Emmens,A.

AU - Brug,T.J.H.

AU - Pisotta,I.

AU - Arquilla,M.

AU - Tamburella,F.

AU - Masciullo,M.

AU - Tagliamonte,N. L.

AU - Valette,R.

AU - Molinari,M.

AU - van der Kooij,H.

PY - 2019/1/1

Y1 - 2019/1/1

N2 - Improving stability of people wearing a lower extremity Wearable Exoskeleton (WE) is one of the biggest challenges in the field. The goal of this preliminary study was to improve balance recovery from perturbations in people with incomplete Spinal Cord Injury (SCI) assisted by a WE with specifically developed balance controller. The WE has actuated ankle and knee joints, which were controlled by using a body sway-based balance controller. Two test pilots participated in 5 training sessions, devoted to enhance the use of the robot, and in pre/post assessments. Their balance during quiet standing was perturbed through pushes in forward direction. The controller was effective in supporting balance recovery in both tests pilots as reflected by a smaller sway amplitude and recovery time when compared with a minimal impedance controller. Moreover, the training resulted in a further reduction of the sway amplitude and recovery time in one of the test pilots whereas it had not an additional beneficial effect for the other subject. In conclusion, the novel balance controller can effectively assist people with incomplete SCI in maintaining standing balance and a dedicated training has the potential to further improve balance.

AB - Improving stability of people wearing a lower extremity Wearable Exoskeleton (WE) is one of the biggest challenges in the field. The goal of this preliminary study was to improve balance recovery from perturbations in people with incomplete Spinal Cord Injury (SCI) assisted by a WE with specifically developed balance controller. The WE has actuated ankle and knee joints, which were controlled by using a body sway-based balance controller. Two test pilots participated in 5 training sessions, devoted to enhance the use of the robot, and in pre/post assessments. Their balance during quiet standing was perturbed through pushes in forward direction. The controller was effective in supporting balance recovery in both tests pilots as reflected by a smaller sway amplitude and recovery time when compared with a minimal impedance controller. Moreover, the training resulted in a further reduction of the sway amplitude and recovery time in one of the test pilots whereas it had not an additional beneficial effect for the other subject. In conclusion, the novel balance controller can effectively assist people with incomplete SCI in maintaining standing balance and a dedicated training has the potential to further improve balance.

UR - http://www.scopus.com/inward/record.url?scp=85055054614&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-01887-0_64

DO - 10.1007/978-3-030-01887-0_64

M3 - Conference contribution

SN - 978-3-030-01886-3

T3 - Biosystems and Biorobotics

SP - 334

EP - 338

BT - Wearable Robotics: Challenges and Trends

PB - Springer

CY - Cham

ER -

van Asseldonk EHF, Emmens A, Brug TJH, Pisotta I, Arquilla M, Tamburella F et al. Training balance recovery in people with incomplete SCI wearing a wearable exoskeleton. In Carrozza MC, Micera S, Pons JL, editors, Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy. Cham: Springer. 2019. p. 334-338. (Biosystems and Biorobotics). Available from, DOI: 10.1007/978-3-030-01887-0_64