Thesis (M.S.)--Brigham Young University. Dept. of Mechanical Engineering, 2005. / Includes bibliographical references (p. 95-96).

Este trabalho apresenta o desenvolvimento de uma estratégia de assistência adaptativa mediante a implementação de um controle de impedância variável para um robô de reabilitação do tornozelo. A estratégia é formulada de tal forma que o dispositivo robótico assiste ao paciente somente quando e quanto for necessário, seguindo o paradigma Assist-As-Needed. Inicialmente, a contribuição dinâmica do paciente durante a realização do movimento é estimada com base nas informações cinemáticas e de torque fornecidas pelo robô. Em seguida, são propostos dois métodos para se obter o parâmetro de rigidez do controlador de impedância, o primeiro deles determina um valor de erro admissível e calcula a rigidez do robô para complementar a atuação do paciente, e o segundo calcula a rigidez mediante a minimização de um funcional que quantifica o processo de reabilitação e a interação entre robô e paciente. Além disso, a quantidade de assistência dada pelo robô também é adaptada conforme o desempenho do paciente ao longo da sessão. A estratégia foi implementada no robô Anklebot e avaliada em três pacientes pós-AVC para movimentos de flexão dorsal/plantar e de inversão/eversão. Os resultados obtidos indicam que o método utilizado para a estimativa da rigidez é válido para determinar a quantidade de assistência. Finalmente, os resultados confirmam que o aumento do desempenho do paciente gera uma diminuição da assistência robótica, e vice-versa. / This work presents the design of an adaptive robotic assistance strategy through a variable impedance control of an ankle rehabilitation robot. This strategy is formulated so that the robotic device assists the patient only as much as needed, following the Assist-As-Needed paradigm. First, the dynamic contribution of the patient during the motion is estimated based on the torque and kinematic information provided by the robot. Then, two methods are proposed to calculate the stiffness parameter of the impedance controller, the first one determines an admisible value of error and computes the robot stiffness to complement the estimated patient stiffness. The second one computes the robot stiffness by minimizing a functional that quantifies both the rehabilitation process and the interaction between robot and patient. In addition, the amount of the robotic assistance is adapted according to the patient\'s performance. The proposed methods were implemented at the Anklebot and evaluated by three post-stroke patients for dorsi/plantarflexion and inversion/eversion movements. Results indicate that the stiffness estimation is a valid method to determine the amount of the assistance. Finally, the results confirm that increasing the performance of the patient generates a decrease in the robotic assistance, and vice versa.

Ankle sprains are one of the most common type of sports injury. They occur most frequently when the foot is in a supine or inverted position. Recovery from an ankle sprain can take from one and up to 26 weeks depending on the severity of the injury. During that period the individual will be unable to participate in any meaningful sports activity and as such it is important to be able to prevent the occurrence of such injuries. Prevention of ankle sprain injuries would require a better understanding of the risk factors of this injury. Several studies attempted to assess such risk actors by inducing foot inversion or supination however the platforms used in these studies were shown to be limited. Hence the main aim of this project is to develop a system that can be used to assess the effect of sudden foot and ankle inversion/supination on the musculoskeletal system of dynamic subjects (e.g. walking, running, jumping, etc.). For this purpose a three degrees of freedom (DOF) rotating platform has been designed, manufactured and installed in the Institute of Motion Analysis and Research (IMAR) Sports Laboratory. The platform rotates around 3 different axes allowing inversion or supination of the foot and ankle of dynamic subjects. The degree of rotation around each axis can easily be set by the researcher/operator. A strain gauge was used to detect foot strike to the platform. As a safety measure laser emitter/receivers check that the entire foot is on the footplate before the platform rotates. Optical encoders provide essential feedback of rotation angles, speed and acceleration. The necessary software and user interface for controlling the platform were also written and tested. The platform was synchronised with a bilateral four-channel EMG (electromyography) system and a 12 camera Vicon® MX-13 system thus allowing measurement of muscle activity and kinematic data during the supination of the foot. A set of software modules were written to allow automated management and processing of the data generated by the new system. The new system was then implemented in a study to validate it and to assess the role of shoes in ankle sprains. In this study, subjects would walk in three different foot conditions: barefoot, and with two different types of sports shoes, along the walkway of the Sports Laboratory where the platform was fitted. When a subject steps on the embedded platform, it rotates causing the subject's foot to supinate. At the same time, the EMG data from the peroneus longus, tibialis anterior, and lateral gastrocnemius muscles are recorded, along with the kinematics of the subject's whole body. The obtained results demonstrated the validity of the newly developed system. Data from the validation study also revealed increased muscle activity following induced foot supination in shod conditions compared to barefoot. Muscle activity of the rotating platform step was found to be significantly higher than the steps before and after. The platform rotation was also found to have an observable effect on body kinematics. The newly developed system is hoped to help provide a better understanding of the risk factors of ankle sprain injury and how to prevent this injury. The system can be used to help improve the design of current footwear and identify which footwear provides better protection against ankle sprain injury. The system can also be used to assess the effectiveness of different ankle injury rehabilitation schemes and different training programs that aim to reduce ankle sprain injuries. The new system can be utilised to identify individuals who are at risk of sustaining an ankle sprain injury. The system can also be utilised in studies outside the scope of ankle sprain injuries.

Este trabalho apresenta o desenvolvimento de uma estratégia de assistência adaptativa mediante a implementação de um controle de impedância variável para um robô de reabilitação do tornozelo. A estratégia é formulada de tal forma que o dispositivo robótico assiste ao paciente somente quando e quanto for necessário, seguindo o paradigma Assist-As-Needed. Inicialmente, a contribuição dinâmica do paciente durante a realização do movimento é estimada com base nas informações cinemáticas e de torque fornecidas pelo robô. Em seguida, são propostos dois métodos para se obter o parâmetro de rigidez do controlador de impedância, o primeiro deles determina um valor de erro admissível e calcula a rigidez do robô para complementar a atuação do paciente, e o segundo calcula a rigidez mediante a minimização de um funcional que quantifica o processo de reabilitação e a interação entre robô e paciente. Além disso, a quantidade de assistência dada pelo robô também é adaptada conforme o desempenho do paciente ao longo da sessão. A estratégia foi implementada no robô Anklebot e avaliada em três pacientes pós-AVC para movimentos de flexão dorsal/plantar e de inversão/eversão. Os resultados obtidos indicam que o método utilizado para a estimativa da rigidez é válido para determinar a quantidade de assistência. Finalmente, os resultados confirmam que o aumento do desempenho do paciente gera uma diminuição da assistência robótica, e vice-versa. / This work presents the design of an adaptive robotic assistance strategy through a variable impedance control of an ankle rehabilitation robot. This strategy is formulated so that the robotic device assists the patient only as much as needed, following the Assist-As-Needed paradigm. First, the dynamic contribution of the patient during the motion is estimated based on the torque and kinematic information provided by the robot. Then, two methods are proposed to calculate the stiffness parameter of the impedance controller, the first one determines an admisible value of error and computes the robot stiffness to complement the estimated patient stiffness. The second one computes the robot stiffness by minimizing a functional that quantifies both the rehabilitation process and the interaction between robot and patient. In addition, the amount of the robotic assistance is adapted according to the patient\'s performance. The proposed methods were implemented at the Anklebot and evaluated by three post-stroke patients for dorsi/plantarflexion and inversion/eversion movements. Results indicate that the stiffness estimation is a valid method to determine the amount of the assistance. Finally, the results confirm that increasing the performance of the patient generates a decrease in the robotic assistance, and vice versa.