Neglected physical human-robot interaction may explain variable outcomes in gait neurorehabilitation research

Journal article (2021)

Authors

M.C. Plooij Motek, Demcon Advanced Mechatronics, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
S. Apte Swiss Federal Institute of Technology, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
U. Keller Swiss Federal Institute of Technology, University Children’s Hospital Zurich
Patricia Baines Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
P.M. Baines Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Bram Sterke Motek, Erasmus MC
B.T. Sterke Motek, Erasmus MC
Bram T. Sterke Motek, Erasmus MC
L. Asboth Swiss Federal Institute of Technology, University Hospital of Vaud (CHUV)
Grégoire Courtine University Hospital of Vaud (CHUV), Swiss Federal Institute of Technology
Joachim Von Zitzewitz Swiss Federal Institute of Technology
H. Vallery Erasmus MC, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Heike Vallery Erasmus MC, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

During gait neurorehabilitation, many factors influence the quality of gait patterns, particularly the chosen body-weight support (BWS) device. Consequently, robotic BWS devices play a key role in gait rehabilitation of people with neurological disorders. The device transparency, support force vector direction, and attachment to the harness vary widely across existing robotic BWS devices, but the influence of these factors on the production of gait remains unknown. Because this information is key to designing an optimal BWS, we systematically studied these determinants in this work. We report that with a highly transparent device and a conventional harness, healthy participants select a small backward force when asked for optimal BWS conditions. This unexpected finding challenges the view that during human-robot interactions, humans predominantly optimize energy efficiency. Instead, they might seek to increase their feeling of stability and safety. We also demonstrate that the location of the attachment points on the harness strongly affects gait patterns, yet harness attachment is hardly reported in literature. Our results establish principles for the design of BWS devices and personalization of BWS settings for gait neurorehabilitation.

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