The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke
Robotic devices can provide physical assistance to people who have suffered neurological impairments such as stroke. Neurological disorders related to this condition induce abnormal gait patterns, which impede the independence to execute different Activities of Daily Living (ADLs). From the fundamen...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-03-01
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| Series: | Brain Sciences |
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| Online Access: | https://www.mdpi.com/2076-3425/11/4/412 |
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| author | Daniel Gomez-Vargas Felipe Ballen-Moreno Patricio Barria Rolando Aguilar José M. Azorín Marcela Munera Carlos A. Cifuentes |
| author_facet | Daniel Gomez-Vargas Felipe Ballen-Moreno Patricio Barria Rolando Aguilar José M. Azorín Marcela Munera Carlos A. Cifuentes |
| author_sort | Daniel Gomez-Vargas |
| collection | DOAJ |
| description | Robotic devices can provide physical assistance to people who have suffered neurological impairments such as stroke. Neurological disorders related to this condition induce abnormal gait patterns, which impede the independence to execute different Activities of Daily Living (ADLs). From the fundamental role of the ankle in walking, Powered Ankle-Foot Orthoses (PAFOs) have been developed to enhance the users’ gait patterns, and hence their quality of life. Ten patients who suffered a stroke used the actuation system of the T-FLEX exoskeleton triggered by an inertial sensor on the foot tip. The VICONmotion capture system recorded the users’ kinematics for unassisted and assisted gait modalities. Biomechanical analysis and usability assessment measured the performance of the system actuation for the participants in overground walking. The biomechanical assessment exhibited changes in the lower joints’ range of motion for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>70</mn><mo>%</mo></mrow></semantics></math></inline-formula> of the subjects. Moreover, the ankle kinematics showed a correlation with the variation of other movements analyzed. This variation had positive effects on 70% of the participants in at least one joint. The Gait Deviation Index (GDI) presented significant changes for 30% of the paretic limbs and 40% of the non-paretic, where the tendency was to decrease. The spatiotemporal parameters did not show significant variations between modalities, although users’ cadence had a decrease of 70% of the volunteers. Lastly, the satisfaction with the device was positive, the comfort being the most user-selected aspect. This article presents the assessment of the T-FLEX actuation system in people who suffered a stroke. Biomechanical results show improvement in the ankle kinematics and variations in the other joints. In general terms, GDI does not exhibit significant increases, and the Movement Analysis Profile (MAP) registers alterations for the assisted gait with the device. Future works should focus on assessing the full T-FLEX orthosis in a larger sample of patients, including a stage of training. |
| first_indexed | 2024-03-10T12:55:53Z |
| format | Article |
| id | doaj.art-3409f7dd9da3436480098e46c40cb285 |
| institution | Directory Open Access Journal |
| issn | 2076-3425 |
| language | English |
| last_indexed | 2024-03-10T12:55:53Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Brain Sciences |
| spelling | doaj.art-3409f7dd9da3436480098e46c40cb2852023-11-21T11:54:23ZengMDPI AGBrain Sciences2076-34252021-03-0111441210.3390/brainsci11040412The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with StrokeDaniel Gomez-Vargas0Felipe Ballen-Moreno1Patricio Barria2Rolando Aguilar3José M. Azorín4Marcela Munera5Carlos A. Cifuentes6Department of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogotá 111166, ColombiaDepartment of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogotá 111166, ColombiaDepartment of Electrical Engineering, University of Magallanes, Punta Arenas 6210427, ChileDepartment of Electrical Engineering, University of Magallanes, Punta Arenas 6210427, ChileBrain-Machine Interface Systems Lab, Systems Engineering and Automation Department, Miguel Hernández University of Elche UMH, 03202 Elche, SpainDepartment of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogotá 111166, ColombiaDepartment of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogotá 111166, ColombiaRobotic devices can provide physical assistance to people who have suffered neurological impairments such as stroke. Neurological disorders related to this condition induce abnormal gait patterns, which impede the independence to execute different Activities of Daily Living (ADLs). From the fundamental role of the ankle in walking, Powered Ankle-Foot Orthoses (PAFOs) have been developed to enhance the users’ gait patterns, and hence their quality of life. Ten patients who suffered a stroke used the actuation system of the T-FLEX exoskeleton triggered by an inertial sensor on the foot tip. The VICONmotion capture system recorded the users’ kinematics for unassisted and assisted gait modalities. Biomechanical analysis and usability assessment measured the performance of the system actuation for the participants in overground walking. The biomechanical assessment exhibited changes in the lower joints’ range of motion for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>70</mn><mo>%</mo></mrow></semantics></math></inline-formula> of the subjects. Moreover, the ankle kinematics showed a correlation with the variation of other movements analyzed. This variation had positive effects on 70% of the participants in at least one joint. The Gait Deviation Index (GDI) presented significant changes for 30% of the paretic limbs and 40% of the non-paretic, where the tendency was to decrease. The spatiotemporal parameters did not show significant variations between modalities, although users’ cadence had a decrease of 70% of the volunteers. Lastly, the satisfaction with the device was positive, the comfort being the most user-selected aspect. This article presents the assessment of the T-FLEX actuation system in people who suffered a stroke. Biomechanical results show improvement in the ankle kinematics and variations in the other joints. In general terms, GDI does not exhibit significant increases, and the Movement Analysis Profile (MAP) registers alterations for the assisted gait with the device. Future works should focus on assessing the full T-FLEX orthosis in a larger sample of patients, including a stage of training.https://www.mdpi.com/2076-3425/11/4/412Powered Ankle-Foot Orthosis (PAFO)overground gaitankle exoskeletonbiomechanical analysisGait Deviation Index (GDI)Movement Analysis Profile (MAP) |
| spellingShingle | Daniel Gomez-Vargas Felipe Ballen-Moreno Patricio Barria Rolando Aguilar José M. Azorín Marcela Munera Carlos A. Cifuentes The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke Brain Sciences Powered Ankle-Foot Orthosis (PAFO) overground gait ankle exoskeleton biomechanical analysis Gait Deviation Index (GDI) Movement Analysis Profile (MAP) |
| title | The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke |
| title_full | The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke |
| title_fullStr | The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke |
| title_full_unstemmed | The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke |
| title_short | The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke |
| title_sort | actuation system of the ankle exoskeleton t flex first use experimental validation in people with stroke |
| topic | Powered Ankle-Foot Orthosis (PAFO) overground gait ankle exoskeleton biomechanical analysis Gait Deviation Index (GDI) Movement Analysis Profile (MAP) |
| url | https://www.mdpi.com/2076-3425/11/4/412 |
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