Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton.

Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. Research Abstract Details 

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Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. Abstract Text:

Sunil K Agrawal,Sai K Banala,Abbas Fattah,Vivek Sangwan,Vijaya Krishnamoorthy,John P Scholz,Wei-Li Hsu,

The gravity balancing exoskeleton, designed at University of Delaware, Newark, consists of rigid links, joints and springs, which are adjustable to the geometry and inertia of the leg of a human subject wearing it. This passive exoskeleton does not use any motors but is designed to unload the human leg joints from the gravity load over its range-of-motion. The underlying principle of gravity balancing is to make the potential energy of the combined leg-machine system invariant with configuration of the leg. Additionally, parameters of the exoskeleton can be changed to achieve a prescribed level of gravity assistance, from 0% to 100%. The goal of the results reported in this paper is to provide preliminary quantitative assessment of the changes in kinematics and kinetics of the walking gait when a human subject wears such an exoskeleton. The data on kinematics and kinetics were collected on four healthy and three stroke patients who wore this exoskeleton. These data were computed from the joint encoders and interface torque sensors mounted on the exoskeleton. This exoskeleton was also recently used for a six-week training of a chronic stroke patient, where the gravity assistance was progressively reduced from 100% to 0%. The results show a significant improvement in gait of the stroke patient in terms of range-of-motion of the hip and knee, weight bearing on the hemiparetic leg, and speed of walking. Currently, training studies are underway to assess the long-term effects of such a device on gait rehabilitation of hemiparetic stroke patients.

Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. Publishing Authors By Initials

SK Agrawal,SK Banala,A Fattah,V Sangwan,V Krishnamoorthy,JP Scholz,WL Hsu,

For similar diagnosis: prognosis: treatment outcome research abstracts see: diagnosis: prognosis: treatment outcome research

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Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. Journal Published:

PUBLICATION TYPE: Research Support, N.I.H., Extr

Journal: IEEE transactions on neural systems and rehabilita

VOLUME: 15

Page Numbers: 410-20

Journal Abbreviation:

ISSN: 1534-4320

DAY: 3

MONTH: Sep

YEAR: 2007

Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. Information

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LANGUAGE: eng

NlmUniqueID: 101097023

Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. Keywords Mesh Terms:

KEYWORDS: Treatment Outcome

MESH TERMS: methods

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Grant and Affiliation Information for Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton.

AFFILIATION: Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA. agrawal@udel.edu

Country: United States

AGENCY: United States NICHD

GRANT: 1 R01 HD38582-01A2

ACRONYM: HD

MEDLINETA: IEEE Trans Neural Syst Rehabil

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