07 - Robot-Aided Gait Therapy

Question 1

Physical therapy - training

Answer 1

• dose
• effort
• task-specific
• motivation

Question 2

Physical therapy for patients of

Answer 2

• stroke

- SCI (reflexes preserved): CPG = central pattern generator (gait control) affected

Question 3

Manual vs robot-aided gait training

Answer 3

• manual: exhausting, less time, cost intensive

- robot: assistance, longer, repetability, msrbl, games

Question 4

Control

Answer 4

• position ctl: w/ jt angles
• force ctl
• – impedance ctl (larger the deviation, larger the force to bring back)
• – admittance ctl
• path ctl: tunnel ctl, support w/o restricting (nearest neighbor)

Question 5

Body-weight support systems

Answer 5

• goals: relieve wt from legs and feet, keep natural pattern, cstt vertical F, periodic vertical trunk movt
• types: static, counterweight (inertia), elastic springs (space), actuated

Question 6

Assessment and biofeedback

Answer 6

• a/pROM
• max voluntary jt torques
• torques vs jt angles (stiffness, spasticity)
• feedback: screens
• VR