Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 7, Issue 3, Pages 7574-7580Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3183799
Keywords
Prosthetics and exoskeletons; rehabilitation robotics; wearable robotics
Categories
Funding
- Agency for Management of University and Research Grants (AGAUR)
- Secretariat of Universities and Research of the Catalan Ministry of Catalan Ministry of Research and Universities [2020 FI_B 00331]
- European Social Fund (ESF)
- la Caixa Foundation [LCF/TR/CC20/52480002]
- European Union's Horizon 2020 Research and Innovation Programme through DIH-HERO [825003]
- Spanish Ministry of Science and Innovation (MCI)-Agencia Estatal de Investigacion (AEI) [PTQ2018-010227]
- H2020 Societal Challenges Programme [825003] Funding Source: H2020 Societal Challenges Programme
Ask authors/readers for more resources
Recent studies have shown that ankle exoskeletons can improve gait biomechanics and walking performance for post-stroke individuals. This comprehensive experimental analysis and protocol evaluated a wide range of metrics and showed that the ABLE-S exoskeleton significantly corrected foot drop, reduced compensatory movements, and improved gait patterns.
Recent studies on ankle exoskeletons have shown the feasibility of this technology for post-stroke gait rehabilitation. The main contribution of the present work is a comprehensive experimental analysis and protocol that focused on evaluating a wide range of biomechanical, usability and users' perception metrics under three different walking conditions: without exoskeleton, with an ankle exoskeleton unpowered, and with an ankle exoskeleton powered. To carry out this study, we developed the ABLE-S exoskeleton that can provide time-adapted ankle plantarflexion and dorsiflexion assistance. Tests with five participants with chronic stroke showed that walking with the ABLE-S exoskeleton significantly corrected foot drop by 25 % while reducing hip compensatory movements by 21 %. Furthermore, asymmetrical spatial gait patterns were significantly reduced by 51 % together with a significant increase in the average foot tilting angle at heel strike by 349 %. The total time to don, doff and set-up the device was of 7.86 +/- 2.90 minutes. Finally, 80 % of the participants indicated that they were satisfied with their walking performance while wearing the exoskeleton, and 60 % would use the device for community ambulation. The results of this study add to the existing body of evidence supporting that ankle exoskeletons can improve gait biomechanics for post-stroke individuals.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available