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113. Usability evaluation of an interactive leg press training robot for children with neuromuscular impairments

Author

Chrif, Farouk, van Hedel, Hubertus J A, Vivian, Mauro, Nef, Tobias, Hunt, Kenneth J, Chrif, Farouk, van Hedel, Hubertus J A, Vivian, Mauro, Nef, Tobias, and Hunt, Kenneth J

Abstract

BACKGROUND The use of robotic technology for neurorehabilitative applications has become increasingly important for adults and children with different motor impairments. OBJECTIVE The aim of this study was to evaluate the technical feasibility and usability of a new interactive leg-press training robot that was developed to train leg muscle strength and control, suitable for children with neuromuscular impairments. METHODS An interactive robotic training system was designed and constructed with various control strategies, actuators and force/position sensors to enable the performance of different training modes (passive, active resistance, and exergames). Five paediatric patients, aged between 7 and 16 years (one girl, age 13.0 ± 3.7 years, [mean ± SD]), with different neuromuscular impairments were recruited to participate in this study. Patients evaluated the device based on a user satisfaction questionnaire and Visual Analog Scale (VAS) scores, and therapists evaluated the device with the modified System Usability Scale (SUS). RESULTS One patient could not perform the training session because of his small knee range of motion. Visual Analog Scale scores were given by the 4 patients who performed the training sessions. All the patients adjudged the training with the interactive device as satisfactory. The average SUS score given by the therapists was 61.2 ± 18.4. CONCLUSION This study proposed an interactive lower limb training device for children with different neuromuscular impairments. The device is deemed feasible for paediatric rehabilitation applications, both in terms of technical feasibility and usability acceptance. Both patients and therapists provided positive feedback regarding the training with the device.

Published
2022

122. Osteochondral Lesions of the Tibial Plafond and Ankle Instability With Ankle Cartilage Lesions: Proceedings of the International Consensus Meeting on Cartilage Repair of the Ankle

Author

Dahmen, Jari, primary, Bayer, Steve, additional, Toale, James, additional, Mulvin, Conor, additional, Hurley, Eoghan T., additional, Batista, Jorge, additional, Berlet, Gregory C., additional, DiGiovanni, Christopher W., additional, Ferkel, Richard D., additional, Hua, Yinghui, additional, Kearns, Stephen, additional, Lee, Jin Woo, additional, Pearce, Christopher J., additional, Pereira, Hèlder, additional, Prado, Marcelo P., additional, Raikin, Steven M., additional, Schon, Lew C., additional, Stone, James W., additional, Sullivan, Martin, additional, Takao, Masato, additional, Valderrabano, Victor, additional, van Dijk, C. Niek, additional, Ali, Zakariya, additional, Altink, J. Nienke, additional, Buda, Roberto, additional, Calder, James D. F., additional, Davey, Martin S., additional, D’Hooghe, Pieter, additional, Gianakos, Arianna L., additional, Giza, Eric, additional, Glazebrook, Mark, additional, Hangody, Laszlo, additional, Haverkamp, Daniel, additional, Hintermann, Beat, additional, Hogan, MaCalus V., additional, Hunt, Kenneth J., additional, Hurley, Daire J., additional, Jamal, M. Shazil, additional, Karlsson, Jón, additional, Kennedy, John G., additional, Kerkhoffs, Gino M.M.J., additional, Lambers, Kaj T. A., additional, McCollum, Graham, additional, Mercer, Nathaniel P., additional, Nunley, James A., additional, Paul, Jochen, additional, Savage-Elliott, Ian, additional, Shimozono, Yoshiharu, additional, Stufkens, Sjoerd A. S., additional, Thermann, Hajo, additional, Thordarson, David, additional, Vannini, Francesca, additional, van Bergen, Christiaan J. A., additional, Walls, Raymond J., additional, Walther, Markus, additional, Yasui, Youichi, additional, Younger, Alastair S. E., additional, and Murawski, Christopher D., additional

Published
2022
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132. Contributors

Author

Adams, Samuel B., Backus, Jonathon D., Baumhauer, Judith F., Beaman, Douglas, Berke, Gary M., Berkowitz, Mark, Bibbo, Christopher, Brodsky, James W., Chaudhry, Faisal A., Chou, Loretta, Ciufo, David J., Cohen, Bruce E., Cooper, Minton Truitt, Coughlin, Michael J., Dang, Debbie Y., DeBaun, Malcolm R., DiGiovanni, Benedict F., Dimmick, Simon J., Dobbs, Matthew B., Doty, Jesse F., Ferkel, Eric I., Ferkel, Richard D., Fleischer, Adam E., Ford, Samuel E., Fortin, Paul, Glazebrook, Haley, Glazebrook, Mark, Grimes, J. Speight, Grimsrud, Courtney, Guyton, Gregory P., Hamid, Kamran, Haskell, Andrew, Hayter, Catherine L., Hembree, Walter C., Hirose, Christopher B., Hunt, Kenneth J., Irwin, Todd A., Jastifer, James R., Kim, Todd S., Kovach, Stephen J., Kuong, Evelyn E., Levin, L. Scott, Linklater, James M., Loewy, Evan M., Madi, Naji S., McCormick, Jeremy J., Miniaci-Coxhead, Sara-Lyn, Noori, Naudereh, Oji, David E., Pedowitz, David I., Phisitkul, Phinit, Pinney, Stephen J., Pinzur, Michael S., Randall, R. Lor, Read, John W., Schiff, Adam, Schon, Lew C., Schweitzer, Karl M., Jr, Seefeld, Ashley, Shakked, Rachel J., Shearer, David W., Sofka, Carolyn M., SooHoo, Nelson F., Strasser, Nicholas, Thome, Andrew P., Jr, Thorpe, StevenW., Thuillier, Daniel, Vlahovic, Tracey C., and Waldrop, Norman E., III

Published
2024
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136. Self-paced heart rate control for treadmill exercise.

Author

Hanjie Wang and Hunt, Kenneth J.

Subjects
TREADMILL exercise, HEART beat, TREADMILLS, RUNNING speed, AUTOMATIC control systems
Abstract

Introduction: With conventional heart rate (HR) control systems, the exercising person is bound to walk or run at a pace determined by the feedback. This may be challenging for people with impairments that make it difficult for them to achieve a smooth, continuous pace. The aim of this work was to assess the technical feasibility of a novel self-paced heart rate control strategy and to compare its accuracy with conventional heart rate control. Methods: We propose a self-paced heart rate control system that embeds an automatic positioning controller within the heart rate control loop. The treadmill speed command is decoupled from the heart rate compensator, whereas speed is determined by the exerciser's own volition: target speed is displayed visually to the person and, when they try to follow this target, the position controller sets the treadmill speed while keeping the person at a safe reference position on the track. A further novel contribution of this work is a new input-sensitivity-shaping, frequency-domain design strategy for feedback control of position. Results: Experimental evaluation with four participants showed that self-paced heart rate control is technically feasible: all participants were able to accurately follow the target running speed calculated by the HR compensator and presented to them visually; for all four participants, self-paced HR tracking accuracy was not substantially different from conventional HR control performance; on average, the self-paced heart rate controller gave slightly better performance than conventional HR control, with RMS tracking error of 2.98 beats per minute (bpm) vs 3.11 bpm and higher average control signal power. Conclusion: The proposed self-paced heart rate control strategy with embedded automatic position control is deemed feasible. This approach may be helpful for people with gait impairments or other limitations that make it difficult for them to follow an imposed treadmill speed. [ABSTRACT FROM AUTHOR]

Published
2023
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141. Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation

Author

Fang, Juan, Haldimann, Michael, Marchal Crespo, Laura, and Hunt, Kenneth J.

Subjects
frequency-domain analysis, dynamic modeling, 610 Medicine & health, cable-driven robots, force control, 620 Engineering, velocity compensation, rehabilitation robotic systems, Neuroscience, Original Research
Abstract

In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs. However, a well-controlled assistance or resistance is desirable for effective walking relearning and muscle training. To achieve well-controlled force during locomotion training with the robowalk expander, we replaced the elastic bands with actuator-driven cables and implemented force control algorithms for regulation of cable tensions. The aim of this work was to develop an active cable-driven robotic system, and to evaluate force control strategies for walking rehabilitation using frequency-domain analysis. The system parameters were determined through experiment-assisted simulation. Then force-feedback lead controllers were developed for static force tracking, and velocity-feedforward lead compensators were implemented to reduce velocity-related disturbances during walking. The technical evaluation of the active cable-driven robotic system showed that force-feedback lead controllers produced satisfactory force tracking in the static tests with a mean error of 5.5%, but in the dynamic tests, a mean error of 13.2% was observed. Further implementation of the velocity-feedforward lead compensators reduced the force tracking error to 9% in dynamic tests. With the combined control algorithms, the active cable-driven robotic system produced constant force within the four cables during walking on the treadmill, with a mean force-tracking error of 10.3%. This study demonstrates that the force control algorithms are technically feasible. The active cable-driven, force-controlled robotic system has the potential to produce user-defined assistance or resistance in rehabilitation and fitness training.

Published
2021
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145. Congenital Unilateral Hypertrophy of the Foot Intrinsics: A Rare Case and Review of Literature

Author

Hellwinkel, Justin E, York, Philip J, Leaseburg, Jason T, and Hunt, Kenneth J

Subjects
Congenital hypertrophy, Foot hypertrophy, Foot intrinsics, Case Report
Abstract

Introduction: Congenital hypertrophy of the intrinsic muscles of the foot is a rare disorder of unknown incidence characterized by unilateral muscular hypertrophy of one or more of the intrinsic muscles. Few cases have been reported in literature, many presenting with hypertrophy of a single muscle. Case Report: A 12-year-oldCaucasian female with hypertrophy of all intrinsic muscles of the right foot present since birth presented with muscle imbalance resulting in hammer toe deformities of the second and third toes with the second toe crossing over the hallux. Our treatment consisted of the correction of the toe deformities without muscle debulking or excision. Conclusions: Isolated congenital hypertrophy of muscles poses a unique challenge, particularly involving musculature of the foot. Indications for intervention include pain or functional impairment. Specific treatments should aim to address patient complaints with the understanding that debulking procedures carry the risk of abundant scar formation, neurovascular injury, and functional deficits.

Published
2019

146. Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation

Author

Fang, Juan (author), Haldimann, Michael (author), Marchal Crespo, L. (author), Hunt, Kenneth J. (author), Fang, Juan (author), Haldimann, Michael (author), Marchal Crespo, L. (author), and Hunt, Kenneth J. (author)

Abstract

In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs. However, a well-controlled assistance or resistance is desirable for effective walking relearning and muscle training. To achieve well-controlled force during locomotion training with the robowalk expander, we replaced the elastic bands with actuator-driven cables and implemented force control algorithms for regulation of cable tensions. The aim of this work was to develop an active cable-driven robotic system, and to evaluate force control strategies for walking rehabilitation using frequency-domain analysis. The system parameters were determined through experiment-assisted simulation. Then force-feedback lead controllers were developed for static force tracking, and velocity-feedforward lead compensators were implemented to reduce velocity-related disturbances during walking. The technical evaluation of the active cable-driven robotic system showed that force-feedback lead controllers produced satisfactory force tracking in the static tests with a mean error of 5.5%, but in the dynamic tests, a mean error of 13.2% was observed. Further implementation of the velocity-feedforward lead compensators reduced the force tracking error to 9% in dynamic tests. With the combined control algorithms, the active cable-driven robotic system produced constant force within the four cables during walking on the treadmill, with a mean force-tracking error of 10.3%. This study demonstrates that the force control algorithms are technically feasible. The active cable-driven, force-controlled robotic system has the potential to produce user-defined assistance or resistance in rehabilitation and fitness training., Human-Robot Interaction

Published
2021
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