Powered Ankle Exoskeleton for Stroke Survivors With Gait Impairment
Georgia Institute of Technology
Summary
This work will focus on new algorithms for robotic ankle exoskeletons and testing these in human subject tests. Individuals who have previously had a stroke will walk while wearing a robotic exoskeleton on a specialized treadmill as well as during other movement tasks (e.g., overground, stairs, ramps). The study will compare the performance of the advanced algorithm with not using the device to determine the clinical benefit.
Description
The focus of this work is on a proposed novel artificial intelligence (AI) system that self-adapts control policy in powered exoskeletons to aid deployment systems that personalize to individual patient gait. Individuals post-stroke have a broad range of mobility challenges, including asymmetric gait, substantially decreased SSWS, and reduced stability, and therefore have greatly impaired overall mobility independence in the community. The investigators expect the proposed novel controller, capable of personalization to such variable and asymmetric gait patterns, will have significant benefits…
Eligibility
- Age range
- 18–85 years
- Sex
- All
- Healthy volunteers
- No
Inclusion Criteria: * Between 18-85 years of age * Had a stroke at least 6 months prior to study involvement * Are community dwelling, which means you do not live in an assisted living facility * Are able to provide informed consent to participate in the study activities * Can safely participate in the study activities (per self-report) * Must have a Functional Ambulation Category (FAC) score of 3 or above, which means you can walk without the assistance of another person Exclusion Criteria: * Require a walker to walk independently * Have a shuffling gait pattern overground * Have a Functio…
Interventions
- DeviceAnkle exoskeleton
The ankle exoskeleton provides bilateral torque assistance at the ankle joints during common functional tasks such as level-ground walking, stair and ramp ascent, and other daily activities, thereby reducing the mechanical workload and supporting more effective community ambulation. In particular, the device is designed to address drop-foot on the paretic side by delivering bidirectional assistance, which helps improve toe clearance during swing as well as push-off during stance. As a wearable assistive device, assistance is applied only while the device is worn.
- OtherBaseline (no ankle exoskeleton)
The intervention will serve as a baseline where participants will be asked to perform the tasks without wearing an ankle exoskeleton.
Location
- Georgia Institute of TechnologyAtlanta, Georgia