i-manager Publications

Automatic Lower Limb Rehabilitation Device

Vinoth Arrun M. G.*, Kiruthika R.**, Abishitha T. R.***, Harisudha P. M.****, Aarthi P.*****

*-***** Department of Biomedical Engineering, Gnanamani College of Technology, Namakkal, Tamil Nadu, India.

Periodicity:January - June'2024
DOI : https://doi.org/10.26634/jes.12.2.20848

Abstract

Physiotherapy plays a pivotal role in the treatment of neurological and musculoskeletal disorders. With significant advancements in mechatronics, orthotic devices have garnered interest across various sectors, including medicine and industry. Orthotic devices are external wearable machines powered by electric motors and can be applied to different body parts such as upper and lower limbs, heels, or toes, serving various purposes including rehabilitation, power assistance, diagnostics, monitoring, and ergonomics. However, existing wearable devices suffer from issues related to size, cost, and weight, being bulky, expensive, and heavy. Therefore, the objective of this paper is to design a portable, lightweight, and cost-effective rehabilitation system for individuals with a paralyzed leg, leveraging the Internet of Things (IoT). The proposed wearable device, utilizing a PIC microcontroller, aims to monitor and control the lower limb and toes. Additionally, the inclusion of accelerometer and electromyography (EMG) sensors enhances the functionality of the device, allowing for precise movement monitoring and muscle activity detection. By integrating IoT capabilities, users can perform specific movements and exercises tailored to train the patient's impaired leg remotely, gradually restoring its functionality. This paper bridges the gap between traditional rehabilitation methods and modern IoT-enabled technology, offering a versatile solution for individuals with paralyzed legs. The lightweight and portable nature of the device, coupled with its affordability, makes it accessible to a wider demographic, potentially revolutionizing the fields of physiotherapy and rehabilitation.

Keywords

Robotic Rehabilitation Device, Automated Physical Therapy, Motorized Leg Therapy, Electronic Limb Rehabilitation, Automated Gait Training, Mechanical Leg Exercise.

How to Cite this Article?

Arrun, M. G. V., Kiruthika, R., Abishitha, T. R., Harisudha, P. M., and Aarthi, P. (2024). Automatic Lower Limb Rehabilitation Device. i-manager’s Journal on Embedded Systems, 12(2), 15-19. https://doi.org/10.26634/jes.12.2.20848

References

[1]. Gregg, R. D., Lenzi, T., Hargrove, L. J., & Sensinger, J. W. (2014). Virtual constraint control of a powered prosthetic leg: From simulation to experiments with transfemoral amputees. IEEE Transactions on Robotics, 30(6), 1455-1471.

[2]. Hamed, K. A., & Gregg, R. D. (2016, July). Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking. In 2016 American Control Conference (ACC) (pp. 4793-4800). IEEE.

[3]. Isidori, A. (1995). Nonlinear Control Systems: An Introduction. Springer-Verlag.

[4]. Martin, A. E., & Gregg, R. D. (2015, July). Hybrid invariance and stability of a feedback linearizing controller for powered prostheses. In 2015 American Control Conference (ACC) (pp. 4670-4676). IEEE.

[5]. Nanjangud, A., & Gregg, R. D. (2014, October). Simultaneous control of an ankle-foot prosthesis model using a virtual constraint. In Dynamic Systems and Control Conference, 46186, V001T04A001. American Society of Mechanical Engineers.

[6]. Pérez-Bahena, M. H., Niño-Suarez, P. A., Avilés Sánchez, O. F., Beleño, R. H., Caldas, O. I., & Pellico- Sánchez, O. I. (2024). Trends in robotic systems for lower limb rehabilitation. IETE Technical Review, 41(1), 98-109.

[7]. Poulakakis, I., & Grizzle, J. W. (2009). The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper. IEEE Transactions on Automatic Control, 54(8), 1779-1793.

[8]. Sreenath, K., Park, H. W., Poulakakis, I., & Grizzle, J. W. (2011). A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL. The International Journal of Robotics Research, 30(9), 1170-1193.

[9]. Sup, F., Bohara, A., & Goldfarb, M. (2008). Design and control of a powered transfemoral prosthesis. The International Journal of Robotics Research, 27(2), 263- 273.

[10]. Sup, F., Varol, H. A., & Goldfarb, M. (2010). Upslope walking with a powered knee and ankle prosthesis: Initial results with an amputee subject. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 19(1), 71-78.

[11]. Tucker, M. R., Olivier, J., Pagel, A., Bleuler, H., Bouri, M., Lambercy, O., ... & Gassert, R. (2015). Control strategies for active lower extremity prosthetics and orthotics: A review. Journal of Neuroengineering and Rehabilitation, 12(1), 1-30.

[12]. Westervelt, E. R., Grizzle, J. W., & Koditschek, D. E. (2003). Hybrid zero dynamics of planar biped walkers. IEEE Transactions on Automatic Control, 48(1), 42-56.

[13]. Westervelt, E. R., Grizzle, J. W., Chevallereau, C., Choi, J. H., & Morris, B. (2007). Feedback Control of Dynamic Bipedal Robot Locomotion. CRC press.

[14].Zhang, X., Yue, Z., & Wang, J. (2017). Robotics in lower limb rehabilitation after stroke. Behavioural Neurology, 2017(1), 3731802.

If you have access to this article please login to view the article or kindly login to purchase the article

Single Article

	North Americas,UK, Middle East,Europe		India	Rest of world
	USD	EUR	INR	USD-ROW
Online	15	15

ADD TO CART

Options for accessing this content:

If you would like institutional access to this content, please recommend the title to your librarian.
If you already have i-manager's user account: Login above and proceed to purchase the article.
New Users: Please register, then proceed to purchase the article.