• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.05a
• /
• pp.1379-1380
• /
• 2010

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.7 no.2
• /
• pp.55-62
• /
• 2013

The exoskeleton robot to assist walking of hemiplegia patients or disabled persons has been studied in this paper. The exoskeleton robot with degrees of freedom of 2 axis has been developed and tested for joint motion. The obtained EMG signal from normal person was analyzed and the control signal was extracted from it for convenient and automotive performance of assistance robot to help hemiplegia patient walks as normal person does. the purpose of using FES(Functional Electrical Stimulation) for hemiplegia patient's walk is to restore damaged body function by this, but this could give fatal electrical shock to patients by wrong use or cause quick fatigue in muscle by continuous stimulation. The convenient movement of hemiplegia patients with minimum muscle fatigue was looked possibly by operation of assistance robot exoskeleton using control signal. and the walking assistance exoskeleton robot seemed works more efficiently than using FES stimulator. The experiment in this study was performed based on usual motion in our life like walking, standing-up, sitting-down, and particularly feedback control system using Piezo sensor along with button switch was applied for smooth swing motion in walking. The experiment also shows that hemiplegia patients can move conveniently by using electromyogram signal of healthy leg for the operation signal of assistance robot system attached at damaged symmetrical leg.

• Journal of International Academy of Physical Therapy Research
• /
• v.5 no.2
• /
• pp.738-742
• /
• 2014

This study was conducted to investigate the effect of FES and ankle mobilization on the ankle motion and the quality of gait of chronic hemiplegic patients with limited ankle joint motions. As research subjects, 24 chronic hemiplegic patients who could walk independently, regardless of assistive aids, were selected. Then, 8 subjects received mobilization randomly and 8 subjects received FES and 8 subjects received mobilization and FES, at the same time. The dorsiflexion PROM significantly increased in the group of mobilization therapy, mobilization and FES all together(p<.01). There were statistically significant differences among the three groups(p<.01). The 10m walking test significantly decreased in the group of mobilization therapy, mobilization and FES all together(p<.05). There were statistically significant differences among the three groups(p<.01). The gait velocity significantly increased in the group of mobilization therapy, FES therapy, mobilization and FES all together(p<.05). There were statistically significant differences among the three groups(p<.01). The stride length significantly increased in the group of mobilization therapy, mobilization and FES all together(p<.05). There were statistically significant differences among the three groups(p<.05). In conclusion, these findings demonstrate that rather than only using one treatment technique, applying mobilization and FES together brings a more satisfactory result to hemiplegic patients with limited ankle joint motions.