Mobile overground robotic gait training device

This technology is a mobile tethered pelvic assist device that allows for strengthening through overground ambulation.

Unmet Need: Method for overground pelvic gait strengthening

Gait training is an important method to improve coordination and strength of hip musculature and ambulation for individuals with poor control over pelvic motion. However, current methods for robotic gait training rely heavily on the limited use of large treadmill-based devices, which differs from overground motion. There are currently no portable methods to train gait movement overground.

The Technology: Mobile tethered pelvic assist device for gait training

This device is a mobile tethered pelvic assist technology that allows individuals to train and strengthen pelvic motion through overground ambulation. The device uses geometric cable lengths for pelvic localization and its control strategy removes the use of expensive external tension sensors. Using VICON motion capture, the patient’s pelvic position can be tracked in real-time, and this portable technology allows users to walk overground.

Applications:

• Overground ambulation training
• Gait training for mobility-impaired patients including patients of stroke, osteoarthritis, and cerebral palsy
• Tool to study gate biomechanics

Advantages:

• Portable
• Tracks pelvic position in real time using a VICON motion capture setup
• Cost-effective

Lead Inventor:

Sunil K. Agrawal, Ph.D.

Patent Information:

Patent Pending

Related Publications:

• Stramel DM, Prado A, Roy SH, Kim H, Agrawal SK. “Effects of timed frontal plane pelvic moments during overground walking with a mobile TPAD system.” IEEE Trans Neural Syst Rehabil Eng. 2023 Apr 7; 31: 48-57.

• Stramel DM, Agrawal SK. “Assessing changes in human gait with a mobile tethered pelvic assist device (mTPAD) in transparent mode with hand holding conditions.” 2022 9th IEEE RAS/EMBS BioRob. 2022; 1-6.

• Stramel DM, Agrawal SK. “Validation of a forward kinematics based controller for a mobile tethered pelvic assist device to augment pelvic forces during walking.” 2020 IEEE ICRA.

Tech Ventures Reference:

• IR CU22385

• Licensing Contact: Dovina Qu