Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)

Sai K. Banala, Seok Hun Kim, Sunil K. Agrawal, John P. Scholz

    Research output: Contribution to journalArticle

    429 Citations (Scopus)

    Abstract

    Gait training of stroke survivors is crucial to facilitateneuromuscular plasticity needed for improvements in functionalwalking ability. Robot assisted gait training (RAGT) was developedfor stroke survivors using active leg exoskeleton (ALEX) anda force-field controller, which uses assist-as-needed paradigm forrehabilitation. In this paradigm undesirable gait motion is resistedand assistance is provided towards desired motion. The force-field controller achieves this paradigm by effectively applying forces at the ankle of the subject through actuators on the hip and knee joints. Two stroke survivors participated in a 15-session gait training study each with ALEX. The results show that by the end of the training the gait pattern of the patients improved and became closer to a healthy subject’s gait pattern. Improvementis seen as an increase in the size of the patients’ gait pattern, increased knee and ankle joint excursions and increase in their walking speeds on the treadmill.
    LanguageEnglish
    Pages2-8
    JournalIEEE Transactions on Neural Systems and Rehabilitation Engineering
    Volume17
    Issue number1
    DOIs
    Publication statusPublished - Feb 2009

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    Robots
    Exercise equipment
    Controllers
    Plasticity
    Actuators
    Exoskeleton (Robotics)

    Cite this

    Banala, S. K., Kim, S. H., Agrawal, S. K., & Scholz, J. P. (2009). Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX). 17(1), 2-8. https://doi.org/10.1109/TNSRE.2008.2008280
    Banala, Sai K. ; Kim, Seok Hun ; Agrawal, Sunil K. ; Scholz, John P. / Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX). 2009 ; Vol. 17, No. 1. pp. 2-8.
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    Banala, SK, Kim, SH, Agrawal, SK & Scholz, JP 2009, 'Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)', vol. 17, no. 1, pp. 2-8. https://doi.org/10.1109/TNSRE.2008.2008280

    Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX). / Banala, Sai K.; Kim, Seok Hun; Agrawal, Sunil K.; Scholz, John P.

    Vol. 17, No. 1, 02.2009, p. 2-8.

    Research output: Contribution to journalArticle

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