NDLI: Leg muscle activation evoked by floor stiffness perturbations: A novel approach to robot-assisted gait rehabilitation

Content Provider	IEEE Xplore Digital Library
Author	Skidmore, J. Artemiadis, P.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. & Aerosp. Eng., Arizona State Univ., Tempe, AZ, USA (Skidmore, J.; Artemiadis, P.)
Abstract	Robotic devices have been used in a variety of rehabilitation protocols, including gait rehabilitation after stroke. However, robotic intervention in gait therapy has only produced moderate results compared to conventional physiotherapy. We suggest a novel approach to robotic interventions which takes advantage of inter-limb coordination mechanisms. We hypothesize the existence of a mechanism of inter-leg coordination that may remain intact after a hemiplegic stroke that may be utilized to obtain functional improvement of the impaired leg. One of the most significant advantages of this approach is the safety of the patient, since this does not require any direct manipulation of the impaired leg. In this paper, we focus on designing and applying unilateral perturbations that evoke contralateral leg motions through mechanisms of inter-leg coordination. Real-time control of floor stiffness is utilized to uniquely differentiate force and kinematic feedback, creating novel perturbations. We present results of repeatable and scalable evoked muscle activity of the contralateral tibialis anterior muscle through unilateral stiffness perturbations. We also present a mathematical model that accurately describes the relationship between the magnitude of the stiffness perturbation and the evoked muscle activity, that could result in model-based rehabilitation strategies for impaired walkers. The novel methods and results presented in this paper set the foundation for a paradigm shift of robotic interventions for gait rehabilitation.
Starting Page	6463
Ending Page	6468
File Size	3118458
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7140107
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Mathematical model Electromyography Legged locomotion Kinematics Robot kinematics
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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