Abstract
Although the aspects of physical support for patients with lower-limb sensory motor paralysis during walk rehabilitation are well studied, it is also important to consider the social factors which may affect them during gait training. In this study, we propose a robotic platform able to autonomously accompany users while providing social assistance by using an anthropomorphic interface on the front side. The developed mobile platform is based on a weight-support device and is capable to move in accordance with the users’ gait speed and to acquire information such as step-length, step-width and cadence, which can be used further to monitor their progress during the task. The non-verbal interaction provided by the anthropomorphic robot is done by head and hand movement which is remotely controlled during the exercise. Experiments indicate that the platform can adapt to the walking pattern of participants in a similar manner as a therapist does. Furthermore, assessment from questionnaires shows improvements in the participants’ feeling of comfort, independence and motivation in the scenario with the social robot.
Similar content being viewed by others
References
Hogan CL, Mata J, Carstensen LL (2013) Exercise holds immediate benefits for affect and cognition in younger and older adults. Psychol Aging 28(2):587–594
Piezzo C, Leme B, Hirokawa M, and Suzuki K (2017) Gait measurement by a mobile humanoid robot as a walking trainer. In: IEEE international symposium on robot and human interactive communication (RO-MAN)
Craft LL, Perna FM (2004) The benefits of exercise for the clinically depressed. Prim Care Companion J Clin Psychiatry 06(03):104–111
Williams L (2013) Commitment to sport and exercise: Re-examining the literature for a practical and parsimonious model. J Prev Med Public Health 46(SUPPL.1):35–42
Phillips EM, Schneider JC, Mercer GR (2004) Motivating elders to initiate and maintain exercise. Arch Phys Med Rehabil 85(SUPPL. 3):52–57
Gama GL, Celestino ML, Barela JA, Forrester L, Whitall J, Barela AM (2017) Effects of gait training with body weight support on a treadmill versus overground in individuals with stroke. Arch Phys Med Rehabil 98(4):738–745
Mignardot JB, Le Goff CG, Van Den Brand R, Capogrosso M, Fumeaux N, Vallery H, Anil S, Lanini J, Fodor I, Eberle G, Ijspeert A, Schurch B, Curt A, Carda S, Bloch J, Von Zitzewitz J, Courtine G (2017) A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury. Sci Trans Med 9(399):eaah3621
Trabacca A, Vespino T, Di Liddo A, Russo L (2016) Multidisciplinary rehabilitation for patients with cerebral palsy: improving long-term care. J Multidiscip Healthc 9:455–462
Schiltenwolf M, Buchner M, Heindl B, Von Reumont J, Müller A, Eich W (2006) Comparison of a biopsychosocial therapy (BT) with a conventional biomedical therapy (MT) of subacute low back pain in the first episode of sick leave: a randomized controlled trial. Eur Spine J 15(7):1083–1092
Leme B, Piezzo C, Hirokawa M, and Suzuki K (2017) Design of a cloud-based robotic platform for accompanying and interacting with humans. Lecture notes in computer science (including subseries Lecture notes in artificial intelligence and Lecture notes in bioinformatics)
Piezzo C, Leme B, Hirokawa M, and Suzuki K (2017) Robot compliant behaviour with mixed-initiative interaction in an obstacle avoidance scenario. Lecture notes in computer science (including subseries Lecture notes in artificial intelligence and Lecture notes in bioinformatics)
Mataric MJ, Eriksson J, Feil-Seifer DJ, Winstein CJ (2007) Socially assistive robotics for post-stroke rehabilitation. J NeuroEng Rehabil 4:1–9
Lee G, Ohnuma T, Chong NY (2010) Design and control of JAIST active robotic walker. Intell Serv Robot 3(3):125–135
Fasola J, Mataric M (2013) A socially assistive robot exercise coach for the elderly. J Hum Robot Interact 2(2):3–32
Likert R (1932) Technique for the measurement of attitudes. Arch Psychol 22(140):5–55
Acknowledgements
We would like to thanks the Center for Innovative Medicine and Engineering (CIME) at University of Tsukuba Hospital and their staff for all kind of support during the experiments.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Ethics Statement
Written consent was acquired from each participant prior to the experimental sessions. This was a non-clinical study without any harming procedure and all data were collected anonymously.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Leme, B., Hirokawa, M., Kadone, H. et al. A Socially Assistive Mobile Platform for Weight-Support in Gait Training. Int J of Soc Robotics 13, 459–468 (2021). https://doi.org/10.1007/s12369-019-00550-x
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12369-019-00550-x