Design Optimization of a Single-DoF Gait Rehabilitation Robot for a Domestic Environment
Ambros, Julius Le Mesle, Valentin Tissari, Laura Börner, Hendrik Peyrl, Helfried Lüth, Tim Haddadin, Sami
Ambros, Julius
Le Mesle, Valentin
Tissari, Laura
Börner, Hendrik
Peyrl, Helfried
Lüth, Tim
Haddadin, Sami
Supervisor
Department
Robotics
Embargo End Date
Type
Conference proceeding
Date
License
Language
Collections
Research Projects
Organizational Units
Journal Issue
Abstract
In an aging society, the need for rehabilitation treatment is expected to rise. As current healthcare systems have limited capacity and personnel, access to rehabilitation devices usable in households can help address the demand. A lower-limb rehabilitation robot designed for home use must be adaptable to accommodate acute and chronic rehabilitation phases. Existing devices are mechanically complex and require intricate, patient-specific adjustments. To address this, we propose a single degree of freedom (DoF) mechanism based on a chain drive that can be used in multiple configurations, inside and outside a patient bed. We model the gait pattern and construct a custom cost function that captures key features of natural human walking. This cost function is then used to optimize the design parameters of the robot via a direct-search solver to accommodate patients of varying sizes and achieve effective rehabilitation with a fixed trajectory. The outcome is validated experimentally by comparing two robot configurations with five healthy subjects.
Citation
Source
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords
4201 Allied Health and Rehabilitation Science, 40 Engineering, 42 Health Sciences, Physical Rehabilitation, Rehabilitation, Assistive Technology, Bioengineering, Clinical Research
Subjects
Source
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE