Project Abstract

Abstract
Pediatric gait rehabilitation robots have gained significant attention in recent years as a promising tool for enhancing the outcomes of children with gait impairments. This research project focuses on the design and evaluation of such robots to address the specific needs of pediatric patients. The primary aim is to develop innovative robotic systems that are safe, effective, and engaging for children undergoing gait rehabilitation. The design phase of the project involves the development of robotic devices that are adaptable to the unique biomechanical characteristics of children's gait patterns. This includes the incorporation of adjustable parameters to cater to varying levels of mobility and gait impairments among pediatric patients. Additionally, the robots are designed to be user-friendly and intuitive, allowing for easy interaction between the child and the robotic system. In terms of evaluation, the project employs a multidisciplinary approach to assess the effectiveness of the pediatric gait rehabilitation robots. Outcome measures such as gait speed, symmetry, and balance are quantitatively evaluated before and after the robotic intervention to determine the impact on the child's gait performance. Qualitative assessments, including feedback from both children and therapists, are also conducted to gauge the overall user experience and acceptance of the robotic system. Furthermore, the project incorporates gamification elements into the robotic rehabilitation protocols to enhance engagement and motivation among pediatric patients. By integrating fun and interactive tasks into the gait training exercises, the robots aim to create a more enjoyable and rewarding rehabilitation experience for children, ultimately improving adherence to the therapy regimen. Overall, this research project contributes to the growing body of knowledge on pediatric gait rehabilitation robots by focusing on the specific design considerations and evaluation methods tailored to the needs of children. The results of this study have the potential to advance the field of pediatric rehabilitation robotics and ultimately improve the functional outcomes and quality of life for children with gait impairments.

Project Overview

Gait therapy methodologies were studied and analyzed for their potential for pediatric patients. Using data from heel, metatarsal, and toe trajectories, a nominal gait trajectory was determined using Fourier transforms for each foot point. These average trajectories were used as a basis of evaluating each gait therapy mechanism.
An existing gait therapy device (called ICARE) previously designed by researchers, including engineers at the University of Nebraska-Lincoln, was redesigned to accommodate pediatric patients. Unlike many existing designs, the pediatric ICARE did not over- or under-constrain the patient’s leg, allowing for repeated, comfortable, easily-adjusted gait motions. This design was assessed under clinical testing and deemed to be acceptable.
A gait rehabilitation device was designed to interface with both pediatric and adult patients and more closely replicate the gait-like metatarsal trajectory compared to an elliptical machine. To accomplish this task, the nominal gait path was adjusted to accommodate for rotation about the toe, which generated a new trajectory that was tangent to itself at the midpoint of the stride. Using knowledge of the bio-mechanics of the foot, the gait path was analyzed for its applicability to the general population.
Several trajectory-replication methods were evaluated, and the crank-slider mechanism was chosen for its superior performance and ability to mimic the gait path adequately. Adjustments were made to the gait path to further optimize its realization through the crank-slider mechanism.
Two prototypes were constructed according to the slider-crank mechanism to replicate the gait path identified. The first prototype, while more accurately tracing the gait path, showed difficulty in power transmission and excessive cam forces. This prototype was ultimately rejected. The second prototype was significantly more robust. However, it lacked several key aspects of the original design that were important to matching the design goals. Ultimately, the second prototype was recommended for further work in gait-replication research.