All versions are focused on kinematic control of the gait, where joint forces, as well as visual and audio signals are fed back to the control loop in order to minimize the errors in a trajectory. Īn example is the well known application ALEXproject from Delaware University with at least three versions of lower limb exoskeletons. As a consequence, the natural proprioceptive input coming from limb movements stimulates the brain and spinal cord neuroplasticity, which is the key for restoring the mobility of the affected limb(s) in cases of some neuromuscular disorders.
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Rehabilitation therapy with robots ensures a greater number of repetitive movements than manual rehabilitation. In the last two decades, the interest in this particular application of robots has been increasing because it arises as a cost/effective solution for the increasing demand of the traditional rehabilitation system. Patients diagnosed with a degenerative disease such as multiple sclerosis have also cognitive impairment, then it is necessary to endow robots with enough knowledge to automatically adapt to each situation. In this last case, we have an additional consideration. Such cases need a personalized device that enhances the patient’s abilities and improves his/her quality of life as much as possible. However, in an augmentation robotics exoskeleton, it is assumed that patients are not going to improve their mobility after undergoing therapy because there is a permanent degree of disability.
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Moreover, mechanical parameters, on-board sensors, and the software and hardware architecture are expected to be flexible enough in order to adapt the device to each particular patient. This robot must be useful for a wide range of patients considering weight, height, gender, and disease, among others. It is assumed that patients are going to enhance their mobility in the rehabilitation therapy. The rehabilitation exoskeletons are designed to follow a specific therapy/treatment. There is a clear conceptual difference between them. Considering the medical domain, both upper and lower limb exoskeletons obey two paradigms: rehabilitation and augmentation. Robotics exoskeletons are a technology in continuous development mainly in the medical and military fields.
Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator.
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Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization.
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