HOPE-G: A new design for gait rehabilitation robotic structure
Resumo
This research focuses on the development of the two mechanical models of HOPE-G, a gait rehabilitation robot. It describes the methodological approaches for dimensioning pneumatic actuation systems and the parallel manipulator in the body weight support. Simulation results show that the operating point method balances energy efficiency and dynamic performance. Additionally, experimental tests with healthy volunteers confirm the mobility and potential effectiveness of the integrated system for gait training with a serious game. Finally, the preliminary results highlight the potential benefits of the novel structure in rehabilitation processes.
Referências
Artemiadis, P. K. and Krebs, H. I. (2011). On the potential field-based control of the MIT-skywalker. In Proceedings IEEE International Conference on Robotics and Automation, pages 1427–1432. IEEE.
Asl, H. J., Narikiyo, T., and Kawanishi, M. (2019). An assist-as-needed control scheme for robot-assisted rehabilitation. Proceedings of the American Control Conference, pages 198–203.
Gonçalves, R. S., Carvalho, J. C. M., and Lobato, F. S. (2016). Design of a robotic device actuated by cables for human lower limb rehabilitation using self-adaptive differential evolution and robust optimization. Bioscience Journal, pages 1689–1702.
Gonçalves, R. S. and Krebs, H. I. (2017). MIT-Skywalker: considerations on the Design of a Body Weight Support System. Journal of NeuroEngineering and Rehabilitation, 14(1):88.
Gonçalves, R. S. and Rodrigues, L. A. O. (2022). Development of nonmotorized mechanisms for lower limb rehabilitation. Robotica, 40(1):102–119.
Gosselin, C., Laliberté, T., and Veillette, A. (2015). Singularity-Free Kinematically Redundant Planar Parallel Mechanisms With Unlimited Rotational Capability. IEEE Transactions on Robotics, 31(2):457–467.
Hesse, S., Schmidt, H., Werner, C., and Bardeleben, A. (2003). Upper and lower extremity robotic devices for rehabilitation and for studying motor control.
Pietrusinski, M., Cajigas, I., Mizikacioglu, Y., Goldsmith, M., Bonato, P., and Mavroidis, C. (2010). Gait rehabilitation therapy using robot generated force fields applied at the pelvis. 2010 IEEE Haptics Symposium, HAPTICS 2010, pages 401–407.
Rodrigues, L. (2022). Desenvolvimento da estrutura HOPE-G: um sistema robótico para reabilitação da marcha humana. PhD thesis, Universidade Federal de Uberlândia.
Rodrigues, L. A. O. and Gonçalves, R. S. (2023). Development of a novel body weight support system for gait rehabilitation. Robotica, 41(4):1275–1294.
Salvadori, E., Papi, G., Insalata, G., Rinnoci, V., Donnini, I., Martini, M., Falsini, C., Hakiki, B., Romoli, A., Barbato, C., Polcaro, P., Casamorata, F., Macchi, C., Cecchi, F., and Poggesi, A. (2020). Comparison between Ischemic and Hemorrhagic Strokes in Functional Outcome at Discharge from an Intensive Rehabilitation Hospital. Diagnostics, 11(1):38.
Swinnen, E., Baeyens, J.-P., Knaepen, K., Michielsen, M., Hens, G., Clijsen, R., Goossens, M., Buyl, R., Meeusen, R., and Kerckhofs, E. (2015). Walking with robot assistance: the influence of body weight support on the trunk and pelvis kinematics. Disability and Rehabilitation: Assistive Technology, 10(3):252–257.
Veneman, J. F., Kruidhof, R., Hekman, E. E. G., Ekkelenkamp, R., Van Asseldonk, E. H. F., and Van Der Kooij, H. (2007). Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15(1):379–386.
Vigolo, V. (2018). Estudo teórico-experimental para auxílio no dimensionamento de sistemas de atuação pneumáticos. PhD thesis, Universidade Federal de Santa Catarina, Santa Catarina.
Vigolo, V., Conterato, G., Spada, T., Weiss, L. A., and De Negri, V. J. (2020). Energy efficiency and performance of servopneumatic drives for speed governors based on operating points. In Volume 3 - Conference, pages 59–68. Technische Universität Dresden.
Vigolo, V., Valdiero, A. C., Bolaños, R. S., Luz, G. d. M., Gonçalves, R. S., and Negri, V. J. (2022). PROJETO DE UM SERVOPOSIONADOR PNEUMÁTICO COM CONTROLE DE FORÇA. In Congresso Nacional de Engenharia Mecânica (CONEM), Teresina. ABCM.
Asl, H. J., Narikiyo, T., and Kawanishi, M. (2019). An assist-as-needed control scheme for robot-assisted rehabilitation. Proceedings of the American Control Conference, pages 198–203.
Gonçalves, R. S., Carvalho, J. C. M., and Lobato, F. S. (2016). Design of a robotic device actuated by cables for human lower limb rehabilitation using self-adaptive differential evolution and robust optimization. Bioscience Journal, pages 1689–1702.
Gonçalves, R. S. and Krebs, H. I. (2017). MIT-Skywalker: considerations on the Design of a Body Weight Support System. Journal of NeuroEngineering and Rehabilitation, 14(1):88.
Gonçalves, R. S. and Rodrigues, L. A. O. (2022). Development of nonmotorized mechanisms for lower limb rehabilitation. Robotica, 40(1):102–119.
Gosselin, C., Laliberté, T., and Veillette, A. (2015). Singularity-Free Kinematically Redundant Planar Parallel Mechanisms With Unlimited Rotational Capability. IEEE Transactions on Robotics, 31(2):457–467.
Hesse, S., Schmidt, H., Werner, C., and Bardeleben, A. (2003). Upper and lower extremity robotic devices for rehabilitation and for studying motor control.
Pietrusinski, M., Cajigas, I., Mizikacioglu, Y., Goldsmith, M., Bonato, P., and Mavroidis, C. (2010). Gait rehabilitation therapy using robot generated force fields applied at the pelvis. 2010 IEEE Haptics Symposium, HAPTICS 2010, pages 401–407.
Rodrigues, L. (2022). Desenvolvimento da estrutura HOPE-G: um sistema robótico para reabilitação da marcha humana. PhD thesis, Universidade Federal de Uberlândia.
Rodrigues, L. A. O. and Gonçalves, R. S. (2023). Development of a novel body weight support system for gait rehabilitation. Robotica, 41(4):1275–1294.
Salvadori, E., Papi, G., Insalata, G., Rinnoci, V., Donnini, I., Martini, M., Falsini, C., Hakiki, B., Romoli, A., Barbato, C., Polcaro, P., Casamorata, F., Macchi, C., Cecchi, F., and Poggesi, A. (2020). Comparison between Ischemic and Hemorrhagic Strokes in Functional Outcome at Discharge from an Intensive Rehabilitation Hospital. Diagnostics, 11(1):38.
Swinnen, E., Baeyens, J.-P., Knaepen, K., Michielsen, M., Hens, G., Clijsen, R., Goossens, M., Buyl, R., Meeusen, R., and Kerckhofs, E. (2015). Walking with robot assistance: the influence of body weight support on the trunk and pelvis kinematics. Disability and Rehabilitation: Assistive Technology, 10(3):252–257.
Veneman, J. F., Kruidhof, R., Hekman, E. E. G., Ekkelenkamp, R., Van Asseldonk, E. H. F., and Van Der Kooij, H. (2007). Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15(1):379–386.
Vigolo, V. (2018). Estudo teórico-experimental para auxílio no dimensionamento de sistemas de atuação pneumáticos. PhD thesis, Universidade Federal de Santa Catarina, Santa Catarina.
Vigolo, V., Conterato, G., Spada, T., Weiss, L. A., and De Negri, V. J. (2020). Energy efficiency and performance of servopneumatic drives for speed governors based on operating points. In Volume 3 - Conference, pages 59–68. Technische Universität Dresden.
Vigolo, V., Valdiero, A. C., Bolaños, R. S., Luz, G. d. M., Gonçalves, R. S., and Negri, V. J. (2022). PROJETO DE UM SERVOPOSIONADOR PNEUMÁTICO COM CONTROLE DE FORÇA. In Congresso Nacional de Engenharia Mecânica (CONEM), Teresina. ABCM.
Publicado
09/10/2023
Como Citar
RODRIGUES, Lucas A. O.; VIGOLO, Vinícius; VALDIERO, Antonio Carlos; GONÇALVES, Rogério S..
HOPE-G: A new design for gait rehabilitation robotic structure. In: CONCURSO DE TESES E DISSERTAÇÕES EM ROBÓTICA - CTDR (DOUTORADO) - SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO-AMERICANO DE ROBÓTICA (SBR/LARS), 15. , 2023, Salvador/BA.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2023
.
p. 85-94.
DOI: https://doi.org/10.5753/sbrlars_estendido.2023.233375.
