Table 3.
Suitability of different types of rehabilitation robots for assessment of balance in stroke patients. Classification is based on a robots’ potential ability to provide balance assessments and deliver perturbations to balance
| Example robotic devices | Type of assessment Suitability | Type of perturbation Suitability | Quantitative measurements Suitability | ||||||
|---|---|---|---|---|---|---|---|---|---|
| Severely affected patients | Balance assessment in standing | Balance assessment in walking | Moving ground | Horizontal Pushes | Joint | Embedded sensors | Wearable sensors | External sensors | |
| Perturbation platform (SFP) | −/+a | + | − | + | − | − | GRF SK |
GRF BK |
BK SK |
| Robotic pusher devices (CFT) | + | + | + | − | + | − | CIF CK |
GRF BK |
GRF BK CK |
| Active Body Weight Support systems (CFT/CFP/CFO/CMO) | + | + | + | − | + | − | CIF CK |
GRF BK |
GRF BK CK |
| Robotic BWS systems typically provide AAN, but can be combined with other robotic devices for providing perturbations. | |||||||||
| Mobile self-balancing platforms for balance training (SMP) | −/+a | + | − | + | − | − | GRF SK |
GRF BK |
GRF BK SK |
| Mobile robotic gait trainers (CMO) | + | + | + | − | + | − | CIF CK |
GRF BK |
GRF BK CK |
| Treadmill-mounted exoskeletons (DFT) | + | + | + | + | + | + | GRF CK (CIF) |
GRF BK |
GRF |
| Mobile-platform-mounted exoskeletons (DMO) | + | + | + | − | + | + | CK (CIF) |
GRF BK |
GRF |
| Fully wearable exoskeletons, actuated orthoses, or exo-suits (CWO) | + | + | + | − | − | + | CK CIF |
GRF BK |
GRF |
| Actuated foot plates, or ‘end-effector foot-connected robots’ (SFP) | + | + | + | + | − | − | CK CIF |
(CIF) BK |
BK |
SK Surface Kinematics: Inclination or translation from the center of standing surface (position, speed, acceleration), BK Body Kinematics: COM/Sacrum, configuration of a segmental representation of the body (position, speed, acceleration), CK Connection point (s) kinematics: Points where the robotic device is connected to the body (position, speed, acceleration), CIF Connection point (s) Interaction Forces: Points where the robotic device is connected (6D, 3D, 1D force or pressure distribution), GRF, Ground Reaction Forces: Contact between foot and standing surface (6D-, 3D-, 1D–force or pressure distribution)
a Depending on exact configuration
- unsuitable; + suitable