0
Journal of Medical Devices | Volume 5 | Issue 2 | Research Paper
Research Papers

Modified Elliptical Machine Motor-Drive Design for Assistive Gait Rehabilitation

[+] Author and Article Information
Carl A. Nelson

Department of Mechanical Engineering, University of Nebraska-Lincoln, N104 SEC, Lincoln, NE 68588-0656cnelson5@unl.edu

Judith M. Burnfield

Movement and Neurosciences Center, Institute for Rehabilitation Science and Engineering, Madonna Rehabilitation Hospital, 5401 South Street, Lincoln, NE 68506jburnfield@madonna.org

Yu Shu

Movement and Neurosciences Center, Institute for Rehabilitation Science and Engineering, Madonna Rehabilitation Hospital, 5401 South Street, Lincoln, NE 68506yshu@madonna.org

Thad W. Buster

Movement and Neurosciences Center, Institute for Rehabilitation Science and Engineering, Madonna Rehabilitation Hospital, 5401 South Street, Lincoln, NE 68506tbuster@madonna.org

Adam P. Taylor

Movement and Neurosciences Center, Institute for Rehabilitation Science and Engineering, Madonna Rehabilitation Hospital, 5401 South Street, Lincoln, NE 68506ataylor@madonna.org

Andrew Graham

Department of Mechanical Engineering, University of Nebraska-Lincoln, N104 SEC, Lincoln, NE 68588-0656agraham1259@hotmail.com

J. Med. Devices 5(2), 021001 (May 02, 2011) (7 pages) doi:10.1115/1.4003693 History: Received October 06, 2010; Revised February 18, 2011; Published May 02, 2011; Online May 02, 2011
Article
References
Figures
Citing Articles

Current gait rehabilitation systems have limited use in community and home settings due to issues of design, cost, and demands on clinical staff. To overcome these challenges, a new gait rehabilitation machine was designed and developed by modifying an existing elliptical trainer. The Intelligently Controlled Assistive Rehabilitation Elliptical (ICARE) provides answers to design limitations that occur in partial-bodyweight-support treadmill systems and other robotic systems by providing a simulated gait motion without the financial and human resource challenges. The ICARE system integrates ergonomic, comfort and safety enhancements with a motor-drive system to optimize usability by individuals with physical disabilities in hospitals, homes, and fitness settings. The affordable new design provides a complete system that reduces physical demands on clinical staff without compromising patient safety. Development and preliminary testing of the ICARE’s motor-drive system are detailed.
Copyright © 2011 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

1
Lünenburger, L., Colombo, G., and Riener, R., 2007, “Biofeedback for Robotic Gait Rehabilitation,” Journal of NeuroEngineering and Rehabilitation, 4 , p. 1.  [CrossRef]
2
Burnfield, J. M., Shu, Y., Buster, T., and Taylor, A., 2010, “Similarity of Joint Kinematics and Muscle Demands Between Elliptical Training and Walking: Implications for Practice,” Phys. Ther., 90 , pp. 289–305.  [CrossRef]
3
Shu, Y., Buster, T. W., Taylor, A., Keenan, S., Nelson, C. A., and Burnfield, J. M., 2010, “Ergonomic Redesign of Elliptical Trainer to Promote Greater Safety, Comfort and Usability,” Online Proceedings, Rehabilitation Engineering and Assistive Technology Society of North America’s 2010 Annual Conference (http://web.resna.org/library/conference_2010/PDF%20Versions/Job%20and%20Environmental%20Accommodations/ShuY.pdf).
4
SportsArt Fitness, Retrieved Apr. 25, 2010, from http://www.sportsartamerica.com/saf/medical/ellipticals/E870.asp
5
Burnfield, J. M., Shu, Y., Buster, T. W., Taylor, A. P., and Nelson, C. A., “Impact of Elliptical Trainer Ergonomic Modifications on Perceptions of Safety, Comfort, Workout and Usability by Individuals With Physical Disabilities and Chronic Conditions,” Phys. Ther., in review.
6
Burnfield, J. M., Buster, T. W., Taylor, A., Keenan, S., Shu, Y., and Nelson, C. A., 2010, “Intelligently Controlled Assistive Rehabilitation Elliptical (ICARE) Training: An Analysis of Lower Extremity Electromyographic (EMG) Demands With Varying Levels of Motor Assistance,” Online Proceedings, Rehabilitation Engineering and Assistive Technology Society of North America’s 2010 Annual Conference (http://web.resna.org/library/conference_2010/PDF%20Versions/Job%20and%20Environmental%20Accommodations/BurnfieldJ.pdf).
7
Erdman, A. G., and Sandor, G. N., 1997, "Mechanism Design: Analysis and Synthesis", 3rd ed., Prentice-Hall, Upper Saddle River, NJ, Vol. 1 .

Figures

Grahic Jump Location
+Treadmill rehabilitation with PBWS (Madonna Rehabilitation Hospital's Institute for Rehabilitation Science and Engineering)
View Large  |  Save Figure  |  Download Slide (.ppt)
Treadmill rehabilitation with PBWS (Madonna Rehabilitation Hospital's Institute for Rehabilitation Science and Engineering)
Figure 1

Treadmill rehabilitation with PBWS (Madonna Rehabilitation Hospital's Institute for Rehabilitation Science and Engineering)

Grahic Jump Location
+Kinematic and electromyographic evaluation of existing elliptical machine (Madonna Rehabilitation Hospital’s Institute for Rehabilitation Science and Engineering)
View Large  |  Save Figure  |  Download Slide (.ppt)
Kinematic and electromyographic evaluation of existing elliptical machine (Madonna Rehabilitation Hospital’s Institute for Rehabilitation Science and Engineering)
Figure 2

Kinematic and electromyographic evaluation of existing elliptical machine (Madonna Rehabilitation Hospital’s Institute for Rehabilitation Science and Engineering)

Grahic Jump Location
+View of installed pulleys to motor with flat belt
View Large  |  Save Figure  |  Download Slide (.ppt)
View of installed pulleys to motor with flat belt
Figure 3

View of installed pulleys to motor with flat belt

Grahic Jump Location
+View of the right foot pedal attached to the roller on the curved portion of the main coupler
View Large  |  Save Figure  |  Download Slide (.ppt)
View of the right foot pedal attached to the roller on the curved portion of the main coupler
Figure 4

View of the right foot pedal attached to the roller on the curved portion of the main coupler

Grahic Jump Location
+Layout of pulley dimensions (in inches; 0.5 in.=1.3 cm, 1 in.=2.5 cm, 1.25 in.=3.2 cm, 4.05 in.=10.3 cm, 6 in.=15.2 cm, 6.75 in.=17.1 cm, 10.5 in.=26.7 cm, 14 in.=35.6 cm, 58 in.=147.3 cm)
View Large  |  Save Figure  |  Download Slide (.ppt)
Layout of pulley dimensions (in inches; 0.5 in.=1.3 cm, 1 in.=2.5 cm, 1.25 in.=3.2 cm, 4.05 in.=10.3 cm, 6 in.=15.2 cm, 6.75 in.=17.1 cm, 10.5 in.=26.7 cm, 14 in.=35.6 cm, 58 in.=147.3 cm)
Figure 5

Layout of pulley dimensions (in inches; 0.5 in.=1.3 cm, 1 in.=2.5 cm, 1.25 in.=3.2 cm, 4.05 in.=10.3 cm, 6 in.=15.2 cm, 6.75 in.=17.1 cm, 10.5 in.=26.7 cm, 14 in.=35.6 cm, 58 in.=147.3 cm)

Grahic Jump Location
+Kinematic schematic of elliptical machine. Approximate dimensions in inches (cm): rocker (full) 36 (91), rocker (to upper coupler) adjustable, fixed-center distance 63 (160), crank 10.5 (27), foot pedal link 18 (46), and coupler 58 (147). Note the flat foot pedal and the curved cam below it.
View Large  |  Save Figure  |  Download Slide (.ppt)
Kinematic schematic of elliptical machine. Approximate dimensions in inches (cm): rocker (full) 36 (91), rocker (to upper coupler) adjustable, fixed-center distance 63 (160), crank 10.5 (27), foot pedal link 18 (46), and coupler 58 (147). Note the flat foot pedal and the curved cam below it.
Figure 6

Kinematic schematic of elliptical machine. Approximate dimensions in inches (cm): rocker (full) 36 (91), rocker (to upper coupler) adjustable, fixed-center distance 63 (160), crank 10.5 (27), foot pedal link 18 (46), and coupler 58 (147). Note the flat foot pedal and the curved cam below it.

Grahic Jump Location
+Circle highlights control-box remote used for speed manipulation
View Large  |  Save Figure  |  Download Slide (.ppt)
Circle highlights control-box remote used for speed manipulation
Figure 7

Circle highlights control-box remote used for speed manipulation

Grahic Jump Location
+Circle highlights the initial safety switch design
View Large  |  Save Figure  |  Download Slide (.ppt)
Circle highlights the initial safety switch design
Figure 8

Circle highlights the initial safety switch design

Grahic Jump Location
+Circle highlights the final safety switch design
View Large  |  Save Figure  |  Download Slide (.ppt)
Circle highlights the final safety switch design
Figure 9

Circle highlights the final safety switch design

Grahic Jump Location
+Motor current output as a function of time when a participant without known disability trains at 25 rpm. Numbered phases in the movement cycle: (1) left midstance (pedal most inferior) and right midswing (pedal most superior), (2) right initial contact/loading response (pedal most anterior) and left preswing (pedal most posterior), (3) right midstance (pedal most inferior) and left midswing (pedal most superior), and (4) left initial contact/loading response (pedal most anterior) and right preswing (pedal most posterior).
View Large  |  Save Figure  |  Download Slide (.ppt)
Motor current output as a function of time when a participant without known disability trains at 25 rpm. Numbered phases in the movement cycle: (1) left midstance (pedal most inferior) and right midswing (pedal most superior), (2) right initial contact/loading response (pedal most anterior) and left preswing (pedal most posterior), (3) right midstance (pedal most inferior) and left midswing (pedal most superior), and (4) left initial contact/loading response (pedal most anterior) and right preswing (pedal most posterior).
Figure 10

Motor current output as a function of time when a participant without known disability trains at 25 rpm. Numbered phases in the movement cycle: (1) left midstance (pedal most inferior) and right midswing (pedal most superior), (2) right initial contact/loading response (pedal most anterior) and left preswing (pedal most posterior), (3) right midstance (pedal most inferior) and left midswing (pedal most superior), and (4) left initial contact/loading response (pedal most anterior) and right preswing (pedal most posterior).

Grahic Jump Location
+Single-sided amplitude spectrum of motor current output when a participant without known disability trains at 25 rpm
View Large  |  Save Figure  |  Download Slide (.ppt)
Single-sided amplitude spectrum of motor current output when a participant without known disability trains at 25 rpm
Figure 11

Single-sided amplitude spectrum of motor current output when a participant without known disability trains at 25 rpm

Grahic Jump Location
+Motor current output as a function of time when a participant with bilateral weakness and greater right-side involvement due to Parkinson's disease trains at 25 rpm. Numbered gait markers are same as in Fig. 1.
View Large  |  Save Figure  |  Download Slide (.ppt)
Motor current output as a function of time when a participant with bilateral weakness and greater right-side involvement due to Parkinson's disease trains at 25 rpm. Numbered gait markers are same as in Fig. 1.
Figure 12

Motor current output as a function of time when a participant with bilateral weakness and greater right-side involvement due to Parkinson's disease trains at 25 rpm. Numbered gait markers are same as in Fig. 1.

Grahic Jump Location
+Single-sided amplitude spectrum of motor current output when a participant with bilateral weakness and greater right-side involvement due to Parkinson's disease trains at 25 rpm. Spectrum for a healthy participant shown for comparison.
View Large  |  Save Figure  |  Download Slide (.ppt)
Single-sided amplitude spectrum of motor current output when a participant with bilateral weakness and greater right-side involvement due to Parkinson's disease trains at 25 rpm. Spectrum for a healthy participant shown for comparison.
Figure 13

Single-sided amplitude spectrum of motor current output when a participant with bilateral weakness and greater right-side involvement due to Parkinson's disease trains at 25 rpm. Spectrum for a healthy participant shown for comparison.

Grahic Jump Location
+Motor current output as a function of time when a participant with left-side weakness due to traumatic brain injury trains at 25 rpm. Numbered gait markers are same as in Fig. 1.
View Large  |  Save Figure  |  Download Slide (.ppt)
Motor current output as a function of time when a participant with left-side weakness due to traumatic brain injury trains at 25 rpm. Numbered gait markers are same as in Fig. 1.
Figure 14

Motor current output as a function of time when a participant with left-side weakness due to traumatic brain injury trains at 25 rpm. Numbered gait markers are same as in Fig. 1.

Grahic Jump Location
+Single-sided amplitude spectrum of motor current output when a participant with left-side weakness due to traumatic brain injury trains at 25 rpm. Spectrum for a healthy participant shown for comparison.
View Large  |  Save Figure  |  Download Slide (.ppt)
Single-sided amplitude spectrum of motor current output when a participant with left-side weakness due to traumatic brain injury trains at 25 rpm. Spectrum for a healthy participant shown for comparison.
Figure 15

Single-sided amplitude spectrum of motor current output when a participant with left-side weakness due to traumatic brain injury trains at 25 rpm. Spectrum for a healthy participant shown for comparison.

Grahic Jump Location
+Motor current output as a function of time when a healthy participant of Fig. 1 trains at 60 rpm. Numbered gait markers are same as in Fig. 1.
View Large  |  Save Figure  |  Download Slide (.ppt)
Motor current output as a function of time when a healthy participant of Fig. 1 trains at 60 rpm. Numbered gait markers are same as in Fig. 1.
Figure 16

Motor current output as a function of time when a healthy participant of Fig. 1 trains at 60 rpm. Numbered gait markers are same as in Fig. 1.

Grahic Jump Location
+Single-sided amplitude spectrum of motor current output for healthy participant of Fig. 1 at 60 rpm, showing smaller peak at higher frequency. Spectrum for 25 rpm operation shown for comparison.
View Large  |  Save Figure  |  Download Slide (.ppt)
Single-sided amplitude spectrum of motor current output for healthy participant of Fig. 1 at 60 rpm, showing smaller peak at higher frequency. Spectrum for 25 rpm operation shown for comparison.
Figure 17

Single-sided amplitude spectrum of motor current output for healthy participant of Fig. 1 at 60 rpm, showing smaller peak at higher frequency. Spectrum for 25 rpm operation shown for comparison.

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Outlook
Closed-Cycle Gas Turbines> Chapter 11
QRAS Approach to Phased Mission Analysis (PSAM-0444)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
Introduction and Definitions
Handbook on Stiffness & Damping in Mechanical Design> Chapter 1
Expert Systems in Condition Monitoring
Tribology of Mechanical Systems> Chapter 15
Reassessment
Air Engines> Chapter 6
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
This site uses cookies. By continuing to use our website, you are agreeing to our privacy policy. | Accept
Sign In