Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Muscle coordination in healthy subjects during floor walking and stair climbing in robot assisted gait training
    ( 2008)
    Hussein, S.
    ;
    Schmidt, H.
    ;
    Volkmar, M.
    ;
    Werner, C.
    ;
    Helmich, I.
    ;
    Pioko, F.
    ;
    Krüger, J.
    ;
    Hesse, S.
    The aim of gait rehabilitation is a restoration of an independent gait and improvement of daily life walking functions. Therefore the specific patterns, that are to be relearned, must be practiced to stimulate the learning process of the central nervous system (CNS). The Walking Simulator HapticWalker allows for the training of arbitrary gait trajectories of daily life. To evaluate the quality of the training a total of 9 subjects were investigated during free floor walking and stair climbing and during the same tasks in two different training modes on the HapticWalker: 1) with and 2) without vertical center of mass (CoM) motion. Electromyograms (EMG) of 8 gait relevant muscles were measured and muscle activation was compared for the various training modes. Besides the muscle activation as an indicator for the quality of rehabilitation training the study investigates if a cancellation of the vertical CoM movement by adaption of the footplate trajectory is feasible i.e. the muscle activation patterns for the two training modes on the HapticWalker agree. Results show no significant differences in activation timing between the training modes. This indicates the feasibility of using a passive patient suspension and emulate the vertical CoM motion by trajectory adaption of the footplates. The muscle activation timing during HapticWalker training shows important characteristics observed in physiological free walking though a few differences can still remain.
  • Publication
    Muscle activation of stroke patients during stair climbing in robot assisted gait training
    ( 2008)
    Hussein, S.
    ;
    Schmidt, H.
    ;
    Volkmar, M.
    ;
    Krüger, J.
    ;
    Hesse, S.
    For central nervous system (CNS) impaired patients, e.g. after stroke, the achievement of an independent, stable gait function and endurance in walking is essential for independent mobility in daily life. Modern concepts of rehabilitation favor a task specific repetitive training, that facilitates natural motion and muscle activation patterns, i.e. in addition to commonly practiced floor walking other gait motions of daily living (ADL), such as stair climbing, should be trained. In gait rehabilitation of severely affected non-ambulatory patients, a guided training must be applied as no or only little voluntary motor control is left in the affected side. The rehabilitation robot HapticWalker is the first device that allows for robot assisted guided training of arbitrary foot trajectories, e.g. also stair climbing. The goal of this study was to assess the effect of guided training in stair climbing condition on the HapticWalker on the movement and muscle activation patterns of stroke patients. Generally rhythmic and phasic muscle activation patterns were observed, which is an important factor in gait rehabilitation. The training of stair climbing condition on the HapticWalker also facilitated body weight shift in all patients and proper activation of weight bearing muscles. The HapticWalker currently lacks a lateral hip guidance facility, hence individual differences in the ability of controlling hip movement and body weight shift depending on the level of gait ability were observed.
  • Publication
    Roboterunterstütztes Treppensteigen in der neurologischen Gangrehabilitation
    ( 2007)
    Hussein, S.
    ;
    Radmer, J.
    ;
    Volkmar, M.
    ;
    Werner, C.
    ;
    Schmidt, H.
    ;
    Krüger, J.
    ;
    Hesse, S.