Comparison of Exoskeleton Robots and End-Effector Robots On

Comparison of Exoskeleton Robots and End-Effector Robots on
Training Methods and Gait Biomechanics

Pi-Ying Cheng, Po-Ying Lai*, Member, IEEE, Jiun-Ming Ye
AbstractRehabilitation robot positively improves walking

ability of patients with gait disorders. In this paper, our
discussion focuses on exoskeleton robot and end-effector robot.
The purpose of this study was to compare the training methods
and gait biomechanics on subjects when training on
rehabilitation robots.
I. INTRODUCTION
In the recent years, robotic devices have been widely
utilized to replace the manpower and physical needs of
therapists in the field of neurological rehabilitation. It also
allows patients with nerve damage to receive a lot of
exercising. Robotic rehabilitation devices can be divided
based on the driven principles: exoskeleton robot [1], and
end-effector robot [2]. Many of the studies show the
effectiveness of robotic rehabilitation devices in terms of
improving gait ability and physiological functions. Most of the
studies are based on the comparison between rehabilitation
robots, overground walking and treadmill training. Therefore,
two main purposes of this study are: (1) comparison of the
training methods between exoskeleton robots and end-effector
robots, (2) comparison of the gait biomechanics between
exoskeleton robots and end-effector robots.
II. REHABILITATION ROBOT DEVICE
A. Rehabilitation of exoskeleton robot
Exoskeleton robot is the most widely utilized
rehabilitation robotic system in the current field of
exoskeleton gait training clinically. This system is commonly
used to improve gait function of patients with lower limb
disorders. The structure is composed of exoskeleton leg,
treadmill, suspension system (figure 1. a) [1], [3].
B. Rehabilitation of end-effector robot
The end-effector robot was designed in references to the
programmable footplate concept. Each of the two
manipulators comprises a hybrid serial-parallel robot and a
footplate for permanent foot attachment at its end-effector.
The subjects feet are fixed to the footplates via safety release
The step length, step frequency, step height and step speed
could be adjusted according to the patients gait ability on
end-effector robot (figure 1. b) [4].
*Po-Ying Lai is PhD research Fellow, Department of Mechanical
Engineering, National Chiao-Tung University, 1001 University Road,
Hsinchu City 300, Taiwan (phone: +886-973-558-175; fax: +886-3-5720634;
e-mail: lpy928@gmail.com).
Pi-Ying Cheng is associate professor, Department of Mechanical
Engineering, National Chiao-Tung University, 1001 University Road,
Hsinchu City 300, Taiwan.
Jiun-Ming Ye is PhD research Fellow, Department of Mechanical
Engineering, National Taiwan University of Science and Technology, 43 Sec.
4, Keelung Road, Taipei 106, Taiwan.
Figure 1. a: exoskeleton robot. b: end-effector robot.
III. DISCUSSION
A. Robot-assisted walking on gait training methods
All of the exoskeleton robots allow overground walking
training. End-effector robots utilize 6 degrees of freedom in
the mechanism design [8], [10]. Therefore, they allow
subjects to perform gait training on overground walking,
upward and downward stairs climbing.
B. Robot-assisted walking on gait biomechanics
Activity in the ankle flexor and extensor muscles was
reduced throughout most of the gait phase in the exoskeleton
robots training [5]. The antagonistic tibialis anterior muscle
was remarkably less active during the swing phase on the
end-effector robot [6].
In conclusion, we suggest that different training methods
in the gait patterns. Adjustment the data of step length, step
frequency, step speed and body weight support on
robot-assisted walking training.
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
S. Fisher, L. Lucas and T. A. Thrasher, Robot-Assisted Gait Training

for Patients with Hemiparesis Due to Stroke, Topics in Stroke
Rehabilitation., vol. 18, no. 3, pp. 269-276, June. 2011.
H. Stefan, W. Andreas and T. Christopher, Innovative gait robot for
the repetitive practice of floor walking and stair climbing up and down
in stroke patients, NeuroEngineering and Rehabilitation., vol. 7, pp.
30, 2010.
G. Colombo, M. Joerg, R. Schreier and V. Dietz, Treadmill training of
paraplegic patients using a robotic orthosis, Rehabilitation Research
and Development, , vol. 37, no. 6, pp. 693-700, December. 2000.
C. Werner, S. Von Frankenberg, T. Treig, M. Konrad and S. Hesse,
Treadmill training with partial body weight support and an
electromechanical gait trainer for restoration of gait in subacute stroke
patients, a randomized crossover study., vol.33, pp.2895-2901, June,
2002.
Hidler JM, Wall AE: Alterations in muscle activation patterns during
robotic-assisted walking. Clin Biomech., vol.20, pp.184-93, 2005.
Hesse S and Werner C. Connecting research to the needs of patients and
clinicians. Brain Research Bulletin., vol.78, pp.2634, 2009.

Comparison of Exoskeleton Robots and End-Effector Robots On

Uploaded by

Copyright:

Available Formats

Comparison of Exoskeleton Robots and End-Effector Robots On

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Comparison of Exoskeleton Robots and End-Effector Robots On

Uploaded by

Copyright:

Available Formats

Comparison of Exoskeleton Robots and End-Effector Robots on

Training Methods and Gait Biomechanics

AbstractRehabilitation robot positively improves walking

Figure 1. a: exoskeleton robot. b: end-effector robot.

S. Fisher, L. Lucas and T. A. Thrasher, Robot-Assisted Gait Training

You might also like