Session: Research Posters

Paper Number: 120002

120002 - Improving the Control of Fall Prevention Rehabilitation Device by Algorithmic Modification Through Testing 

Abstract

The purpose of this presentation is to examine the synergistic mechatronic design procedure of the rehabilitation equipment, that is used to improve its functionality and performance of the ambulatory gait training system used for fall prevention.  The presentation includes a comprehensive study of most of the prevailing rehabilitation devices.  The rehabilitation equipment used in this study involves a new, innovative   ambulatory suspension system called Navigaitor. Navigaitor, is a device used by therapists during physical therapy of patients who suffer from musculoskeletal disabilities, injuries, diseases, muscle weakness, or surgical procedures. This device can help patients, such as stroke survivors who suffer from impaired gait function in the early stages of recovery. The equipment can help patients to recover from their illness sooner. The design of the equipment is addressed by the concepts of mechatronic control where fall prevention is implemented at several levels. If the rate of change exceeds the prescribed limit, the system locks the system at a fixed position. The experiments on the Navigaitor are done by using patients, who demonstrate progressive gait training from sitting  to standing and walking as well as stair climbing. When using the Navigaitor, the patients will experience a certain amount of comfort. The system assists the patient in building confidence and provides an opportunity for them to balance themselves. The unique feature of the design is the modification of the algorithm through testing of patients and monitoring their improvement in walking.  First, it is necessary to perform optimal control system tuning to produce high precision control requirements. Three different approaches are investigated. They are (i). Technique of using lead-lag offset procedure (ii) Harness redesign to make it flexible and adaptable. (iii)Creation of intention based adaptive trajectory control. In the second approach, a special rigid harness frame has been implemented that enhances the patient’s feeling as well as the control of the rehabilitation device. The redesigned harness eliminates points of flexure between the patient and tilt sensor, so that the angle created by the patient’s intent of motion is directly translated to a tilt angle information at the tilt sensor location. The third approach that is researched involves “Intention based adaptive trajectory control methodology” as an alternate way of improving the implementation of conventional trajectory control. The brain signals captured by the EEG are read by an EEG acquisition device which amplifies the signal. The signal is then processed for feature extraction and signal classification. These signals are then sent to an Application Interface (Microcontroller and, Driver Circuits) which are then sent to the actuating device. The presentation demonstrates how the mechatronic design modeling has helped to improve the design and performance of the new rehabilitation equipment created by the authors.

Keywords— Balance Training, Navigailtor, Mechatronic Design, Ambulatory Rehabilitation, Intention based control, Brain signals

Presenting Author: Devdas Shetty UDC

Presenting Author Biography: DR Devdas Shetty is a Professor of Mechanical Engineering and the Dean of School of Engineering and Applied Sciences, University of the District of Columbia, Washington DC, USA

Authors:

Devdas Shetty UDC
Claudio Campana University of Hartford, CT
Lara Thompson University of the District of Columbia
Pablo Sanchez University of the District of Columbia