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Projects / Programmes source: ARIS

Intelligent robot for walking training

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Research activity

Code Science Field Subfield
2.06.07  Engineering sciences and technologies  Systems and cybernetics  Biomedical technics 

Code Science Field
B115  Biomedical sciences  Biomechanics, cybernetics 

Code Science Field
2.06  Engineering and Technology  Medical engineering  
Keywords
neurological rehabilitation, gait training, intelligent control, cognitive robotics
Evaluation (rules)
source: COBISS
Evaluation of bibliographic research performance indicators according to ARIS methodology
Citations Citations for bibliographic records in COBIB.SI that are linked to records in citation databases
source: WoS source: Scopus source: COBISS
Researchers (9)
no. Code Name and surname Research area Role Period No. of publications
1.  16422  PhD Sašo Blažič  Systems and cybernetics  Researcher  2014 - 2016  328 
2.  31982  PhD Matevž Bošnak  Systems and cybernetics  Researcher  2014 - 2016  50 
3.  30681  PhD Dejan Dovžan  Systems and cybernetics  Researcher  2013 - 2015  68 
4.  20181  PhD Gregor Klančar  Systems and cybernetics  Researcher  2013 - 2016  318 
5.  14038  PhD Zlatko Matjačić  Systems and cybernetics  Head  2013 - 2016  372 
6.  24473  PhD Andrej Olenšek  Systems and cybernetics  Researcher  2013 - 2016  113 
7.  34505  PhD Janez Pavčič  Forestry, wood and paper technology  Researcher  2013 - 2016  10 
8.  10742  PhD Igor Škrjanc  Systems and cybernetics  Researcher  2013 - 2016  735 
9.  32077  PhD Matjaž Zadravec  Systems and cybernetics  Researcher  2013 - 2016  72 
Organisations (2)
no. Code Research organisation City Registration number No. of publications
1.  0309  University Rehabilitation Institute, Republic of Slovenia  Ljubljana  5053919000  5,751 
2.  1538  University of Ljubljana, Faculty of Electrical Engineering  Ljubljana  1626965  27,774 
Abstract
Robotic devices currently used in rehabilitation practice are not suited to address the cognitive aspects of walking that encompass movement planning and coordination related to starting/stopping movement, changing speed of walking, turning in different directions during walking or turning in place, which are of crucial significance for truly independent and functional walking not only in neurologically impaired but also in the elderly. These aspects can currently be practiced only during over ground walking where at least one skilled physiotherapist is required to assist walking subject to maintain dynamic balance and execute appropriate movement coordination.   The project proposal is directed into development of intellegent control framework of an existing autonomous over ground gait training device that enables dynamic balance training and practicing of various movement maneuvers such as changing speed, making turns during walking and turning in place. Specifically, our goals will relate to development and implementation of constitutive cognitive control framework modules. The human walking identification module will implement robust algorithms for assessment, processing and perception of kinematic data acquired from pelvis support mechanism, camera-based sensory system and possibly also from accelerometers and gyroscopes attached to various body parts of a walking human. Further, we will develop robot-supervised walking mode  that will based on the result of identification of walking of each trainee tailor suitable walking training trajectories and will adaptively vary walking and turning velocities depending on the walking performance. Finally, we will develop human-supervised walking module where algorithms to reliably detect user intention in terms of walking speed and direction in order to enable wheeled mobile platform to follow a walking trainee. Here, also an intelligent algorithm will be set in place that will based on the evaluation of each trainee’s walking performance apply adaptive changes of the overall cognitive behavior of the robot with a goal of improving i) accuracy of recognition of user-intended actions during walking and ii) smoothness of common movement of a walking human and driving robot’s mobile platform. In parallel an overall dynamic balance behavior of the user will be evaluated and used in determining the boundaries of upper limits of linear and angular velocities. Beside scientific and technological development a significant part of the proposed research will be dedicated to clinical testing already during technological development. Finally, a clinical evaluation in a form of selected clinical case studies will be conducted in the last six months of a project.
Significance for science
Area of cognitive robotics is high priority area of research in the field of robotics. On the other hand the area of robotically-assisted neurological rehabilitation is a high-priority field of research in rehabilitation medicine. The project was directed into both of these interdisciplinary research fields. From the state of the art it follows that there exists a wide consensus that 1.) rehabilitation robotics will play in the future the key role in neurological rehabilitation and 2.) that the existing control of rehabilitation robots as well as the existing treatment protocols are far from being optimal. In the project we developed and evaluated intelligent rehabilitation walking training robot control. In this respect the results of the project greatly contribute to and further our current understanding on ways how rehabilitation robotics and can be used in neurological rehabilitation. The scientific results of the project were published in top journals within the field.
Significance for the country
Due to rapidly ageing population we expect an increase in demand for effective and financially sustainable rehabilitation services in the near future. The results of the projectenable development of financially sustainable solutions and therapeutic protocols that may stimulate introduction of autonomous gait training program into more pleasant environment such as elderly homes. By doing this we could considerably increase the accessibility of such programs. Developing such financially beneficial solution has therefore significant potential with public healthcare saving by directly decreasing the rehabilitation costs that depend on the number of days of hospitalization. At the same time it could substantially contribute to greater autonomy in the implementation of daily activities and reduce the number of falls and also significantly increase the quality of life of the elderly as well as their relatives. Together with the co-financer of the project the company medica Medizintechnik GmbH and their Slovenian expositure company Thera-trainer d.o.o. we are negotiating transfer of patent rights and development of commercial product.
Most important scientific results Annual report 2014, 2015, final report
Most important socioeconomically and culturally relevant results Annual report 2014, 2015, final report
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