A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment

Sergio D.M. Sierra; Mario F. Jimenez; Marcela C. Munera; Teodiano Bastos; Anselmo Frizera-Neto; Carlos A. Cifuentes

doi:10.1109/CCAC.2019.8920943

A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment

Sergio D.M. Sierra
, Mario F. Jimenez
, Marcela C. Munera
, Teodiano Bastos
, Anselmo Frizera-Neto
, Carlos A. Cifuentes

Research output: Chapter in Book/Inform › Conference contribution

5 Scopus citations

Abstract

Smart Walkers are robotic devices commonly used to improve physical stability and sensory support for people with lower limb weakness or cognitive impairments. Even though such devices offer continuous monitoring during physical rehabilitation, providing a tool to empower therapists might reduce their efforts and increase patient's safety during gait therapies. The implementation of remote-operation strategies enable therapy managers to remote control and assess the smart walker and user information. In this context, this paper presents a new strategy to control and perceive a walker-assisted gait therapy, by means of a haptic joystick with three operational modes. A set of path following tasks were implemented to validate the operational modes. The kinematic estimation error was calculated, and it was found a decrease in the error, when feedback modes were used. Likewise, results from an usability and acceptance questionnaire show better participant's understating of visual feedback mode, and higher effort perception under haptic feedback mode. This interaction strategy represents a potential joystick application as a safety and control interface in walker-assisted gait.

Original language	English (US)
Title of host publication	4th IEEE Colombian Conference on Automatic Control
Subtitle of host publication	Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
Editors	Jose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538669624
DOIs	https://doi.org/10.1109/CCAC.2019.8920943
State	Published - Oct 2019
Externally published	Yes
Event	4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia Duration: Oct 15 2019 → Oct 18 2019

Publication series

Name	4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference	4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Country/Territory	Colombia
City	Medellin
Period	10/15/19 → 10/18/19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 1 No Poverty

All Science Journal Classification (ASJC) codes

Modeling and Simulation
Control and Systems Engineering
Industrial and Manufacturing Engineering
Control and Optimization

Access to Document

10.1109/CCAC.2019.8920943

Cite this

Sierra, S. D. M., Jimenez, M. F., Munera, M. C., Bastos, T., Frizera-Neto, A., & Cifuentes, C. A. (2019). A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment. In J. Garcia-Tirado, D. Munoz-Durango, H. Alvarez, & H. Botero-Castro (Eds.), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings Article 8920943 (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2019.8920943

Sierra, Sergio D.M. ; Jimenez, Mario F. ; Munera, Marcela C. et al. / A therapist helping hand for walker-assisted gait rehabilitation : A pre-clinical assessment. 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. editor / Jose Garcia-Tirado ; Diego Munoz-Durango ; Hernan Alvarez ; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

@inproceedings{89db33dcb6d1414e9a2c79b662e8989e,

title = "A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment",

abstract = "Smart Walkers are robotic devices commonly used to improve physical stability and sensory support for people with lower limb weakness or cognitive impairments. Even though such devices offer continuous monitoring during physical rehabilitation, providing a tool to empower therapists might reduce their efforts and increase patient's safety during gait therapies. The implementation of remote-operation strategies enable therapy managers to remote control and assess the smart walker and user information. In this context, this paper presents a new strategy to control and perceive a walker-assisted gait therapy, by means of a haptic joystick with three operational modes. A set of path following tasks were implemented to validate the operational modes. The kinematic estimation error was calculated, and it was found a decrease in the error, when feedback modes were used. Likewise, results from an usability and acceptance questionnaire show better participant's understating of visual feedback mode, and higher effort perception under haptic feedback mode. This interaction strategy represents a potential joystick application as a safety and control interface in walker-assisted gait.",

author = "Sierra, \{Sergio D.M.\} and Jimenez, \{Mario F.\} and Munera, \{Marcela C.\} and Teodiano Bastos and Anselmo Frizera-Neto and Cifuentes, \{Carlos A.\}",

note = "Funding Information: ACKNOWLEDGMENT This work was supported by Colombian Department Col-ciencias (Grant 801-2017) and the Colombian School of Engineering Julio Garavito Funds. This work was partially supported by FAPES (80709036 \& 72982608), and CNPq (304192/2016-3). This study was financed in part by the Coordenac¸{\~a}o de Aperfeic¸oamento de Pessoal de Nivel Superior {\textendash} Brasil (CAPES) - Finance Code 001. Publisher Copyright: {\textcopyright} 2019 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 4th IEEE Colombian Conference on Automatic Control, CCAC 2019 ; Conference date: 15-10-2019 Through 18-10-2019",

year = "2019",

month = oct,

doi = "10.1109/CCAC.2019.8920943",

language = "English (US)",

series = "4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Jose Garcia-Tirado and Diego Munoz-Durango and Hernan Alvarez and Hector Botero-Castro",

booktitle = "4th IEEE Colombian Conference on Automatic Control",

address = "United States",

}

Sierra, SDM, Jimenez, MF, Munera, MC, Bastos, T, Frizera-Neto, A & Cifuentes, CA 2019, A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment. in J Garcia-Tirado, D Munoz-Durango, H Alvarez & H Botero-Castro (eds), 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings., 8920943, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 4th IEEE Colombian Conference on Automatic Control, CCAC 2019, Medellin, Colombia, 10/15/19. https://doi.org/10.1109/CCAC.2019.8920943

A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment. / Sierra, Sergio D.M.; Jimenez, Mario F.; Munera, Marcela C. et al.
4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. ed. / Jose Garcia-Tirado; Diego Munoz-Durango; Hernan Alvarez; Hector Botero-Castro. Institute of Electrical and Electronics Engineers Inc., 2019. 8920943 (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings).

Research output: Chapter in Book/Inform › Conference contribution

TY - GEN

T1 - A therapist helping hand for walker-assisted gait rehabilitation

T2 - 4th IEEE Colombian Conference on Automatic Control, CCAC 2019

AU - Sierra, Sergio D.M.

AU - Jimenez, Mario F.

AU - Munera, Marcela C.

AU - Bastos, Teodiano

AU - Frizera-Neto, Anselmo

AU - Cifuentes, Carlos A.

N1 - Funding Information: ACKNOWLEDGMENT This work was supported by Colombian Department Col-ciencias (Grant 801-2017) and the Colombian School of Engineering Julio Garavito Funds. This work was partially supported by FAPES (80709036 & 72982608), and CNPq (304192/2016-3). This study was financed in part by the Coordenac¸ão de Aperfeic¸oamento de Pessoal de Nivel Superior – Brasil (CAPES) - Finance Code 001. Publisher Copyright: © 2019 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

PY - 2019/10

Y1 - 2019/10

N2 - Smart Walkers are robotic devices commonly used to improve physical stability and sensory support for people with lower limb weakness or cognitive impairments. Even though such devices offer continuous monitoring during physical rehabilitation, providing a tool to empower therapists might reduce their efforts and increase patient's safety during gait therapies. The implementation of remote-operation strategies enable therapy managers to remote control and assess the smart walker and user information. In this context, this paper presents a new strategy to control and perceive a walker-assisted gait therapy, by means of a haptic joystick with three operational modes. A set of path following tasks were implemented to validate the operational modes. The kinematic estimation error was calculated, and it was found a decrease in the error, when feedback modes were used. Likewise, results from an usability and acceptance questionnaire show better participant's understating of visual feedback mode, and higher effort perception under haptic feedback mode. This interaction strategy represents a potential joystick application as a safety and control interface in walker-assisted gait.

AB - Smart Walkers are robotic devices commonly used to improve physical stability and sensory support for people with lower limb weakness or cognitive impairments. Even though such devices offer continuous monitoring during physical rehabilitation, providing a tool to empower therapists might reduce their efforts and increase patient's safety during gait therapies. The implementation of remote-operation strategies enable therapy managers to remote control and assess the smart walker and user information. In this context, this paper presents a new strategy to control and perceive a walker-assisted gait therapy, by means of a haptic joystick with three operational modes. A set of path following tasks were implemented to validate the operational modes. The kinematic estimation error was calculated, and it was found a decrease in the error, when feedback modes were used. Likewise, results from an usability and acceptance questionnaire show better participant's understating of visual feedback mode, and higher effort perception under haptic feedback mode. This interaction strategy represents a potential joystick application as a safety and control interface in walker-assisted gait.

UR - https://www.scopus.com/pages/publications/85077965278

UR - https://www.scopus.com/pages/publications/85077965278#tab=citedBy

U2 - 10.1109/CCAC.2019.8920943

DO - 10.1109/CCAC.2019.8920943

M3 - Conference contribution

AN - SCOPUS:85077965278

T3 - 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

BT - 4th IEEE Colombian Conference on Automatic Control

A2 - Garcia-Tirado, Jose

A2 - Munoz-Durango, Diego

A2 - Alvarez, Hernan

A2 - Botero-Castro, Hector

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 15 October 2019 through 18 October 2019

ER -

Sierra SDM, Jimenez MF, Munera MC, Bastos T, Frizera-Neto A, Cifuentes CA. A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment. In Garcia-Tirado J, Munoz-Durango D, Alvarez H, Botero-Castro H, editors, 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. 8920943. (4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings). doi: 10.1109/CCAC.2019.8920943

A therapist helping hand for walker-assisted gait rehabilitation: A pre-clinical assessment

Abstract

Publication series

Conference

UN SDGs

All Science Journal Classification (ASJC) codes

Access to Document

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