Skip to main content
ACRM 100th Annual Conference Main banner
InBody BWA
Final Program


Back

Technology

Lower Limb and Core Muscles Rehabilitation by a Developed 3-DOF Exoskeleton Type Therapeutic Robot

Wednesday, November 1, 2023
6:10 PM – 6:16 PM  
Location: Station 5
Research Objectives: This research proposes a digital rehabilitation framework with a developed 3-DOF exoskeleton type Lower-Limb Rehabilitation Robot (LLRR) and Twin-CAT industrial platform to control the robot and to provide passive-based rehabilitation therapies to individuals with lower limb dysfunctions.

Design: Experimental Study

Setting: In the BioRobotics Lab

Participants: An experiment performed a passive rehabilitation mode in core muscles and lower limb on three healthy male human subjects (age: 25-35 years, weights: 65–80 kg, and height: 1.6–1.7 m).

Interventions: In the experimental session of robot-aided therapy, the exoskeleton rehab robot data (for example, joint angle, Joint position, velocity, and torque) are evaluated by a developed HMI through PLC in Twin-CAT which is then processed to get information through GUI, such as achievement of cures. Participants were lying on a robot-mounted patient bed, wearing an LLRR rehab robot. The therapist/individual leveraged the LLRR structure, facilitated by HMI and GUI, to visualize the robot’s and patient’s information.

Main Outcome Measures: In the experiment, we evaluated the exoskeleton device and the ability of its rehabilitation, meaning how well the patient's leg followed the trajectory directed by the Twin-CAT PLC commands. In additional measure was the latency, the time difference between sending joint angle parameters, and the movement of physical joints of the network. And also, the developed LLRR robot is user-friendly because of the digital GUI.

Results: The developed exoskeleton type of therapeutic robot for lower limb rehabilitation results showed that the LLRR was 100% trajectory movement of the patient's leg to provide therapy in core and lower-limb muscles, with a Twin CAT network latency of approximately 0.1 seconds.

Conclusions: The research has shown that the developed LLRR rehab robot for lower limb rehabilitation framework will make therapies/ individuals more approachable, convenient, and burdenless for treatment in the lower limb and core muscles to achieve the desired goal.

Author(s) Disclosures: The authors have no conflicts of interest to declare.

Learning Objectives:

  • Understand the concept of exoskeleton-type therapeutic robots for lower limb rehabilitation and how they can be used in passive-based rehabilitation therapies.
  • Learn about the Twin-CAT industrial platform and how it can be used to control the exoskeleton-type LLRR robot for providing lower limb and core muscle rehabilitation therapies.
  • Understand the principles of experimental design and how they were applied in this study to assess the effectiveness of the developed LLRR rehab robot for lower limb rehabilitation.
  • Understand the role of HMI in controlling and monitoring the LLRR rehab robot and how it can be used to adjust therapy parameters based on patient needs.
  • Understand the potential implications of this research for the field of rehabilitation, including how the developed LLRR rehab robot could be used to improve patient outcomes with lower limb dysfunctions.