Cable-Driven Gait Rehabilitation System for Stroke and CP

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Solution Overview

Problem

Current robotic rehabilitation devices for gait therapy are limited by their weight, inertia, and the need for precise alignment with human joints, which can hinder natural walking dynamics and are labor-intensive, making them less effective for patients with movement disorders such as stroke survivors and children with cerebral palsy.

Innovation Solution

The development of cable-driven robotic rehabilitation systems that apply controlled forces to the pelvis and lower extremities, using a treadmill or walker-based approach, with assist-as-needed control to facilitate movement coordination, balance, and strength training, reducing the need for rigid links and precise alignment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If robotic rehabilitation devices use rigid links and mechanical joints placed in parallel with human limbs, then they can provide structured support for gait training, but they add extra weight and inertia to human limbs and change natural walking dynamics

Engineering Contradiction:

Improvestructured support for gait trainingVSAvoidweight added to human limbs

Core Design Contradiction:

ReliabilityVSWeight of moving object

Solution Approach 1:

The patent replaces rigid mechanical links and joints with a cable-driven robotic system. Cables are used to apply controlled forces to the patient's limbs without requiring physical contact at joint locations, thereby eliminating the added weight and inertia problems while maintaining the ability to provide structured gait training support through force control.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Manufacturing precision

If robotic exoskeletons require accurate alignment between joints and the wearer, then they can provide precise mechanical support, but alignment is difficult or impossible to accomplish due to complex human body geometry

Engineering Contradiction:

Improvealignment between exoskeleton joints and wearerVSAvoidcomplex geometry of human body

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The cable-driven system eliminates the need for joint alignment by applying forces remotely through cables that can be routed to convenient attachment points on the patient's clothing or harness. This substitution of mechanical joint coupling with flexible cable tensioning resolves the alignment problem entirely, as cables can accommodate various body geometries without requiring precise joint matching.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces intermediate attachment points (such as harnesses or clothing attachments) that serve as mediators between the robotic system and the patient's body. These intermediaries allow force transmission without direct joint contact, simplifying the interface requirements and making the system adaptable to diverse human body geometries.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Ease of operation

If physical therapists provide intensive gait therapy manually, then they can offer personalized attention and adjustment, but the treatment is labor intensive and limited by therapist availability

Engineering Contradiction:

Improvepersonalized attention and adjustmentVSAvoidtreatment capacity

Core Design Contradiction:

Ease of operationVSProductivity

Solution Approach 1:

The robotic system provides automated gait therapy delivery with real-time force control and monitoring. The system can independently adjust therapeutic parameters and provide consistent treatment without requiring continuous manual intervention, thereby multiplying the effective treatment capacity while maintaining personalized attention through programmable therapy protocols.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent incorporates feedback mechanisms that monitor patient performance and automatically adjust therapeutic forces in real-time. This closed-loop control enables the robotic system to provide personalized attention equivalent to manual therapy while scaling to serve multiple patients simultaneously, overcoming the productivity limitations of manual therapy.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS10406059B2Human movement research, therapeutic, and diagnostic devices, methods, and systems

Publication Date: 2019.09.10 THE TRUSTEES OF COLUMBIA UNIV IN THE CITY OF NEW YORK

AI summary

Systems for machine-based rehabilitation of movement disorders including gait therapy applications can apply controlled forces to the pelvis and/or other body parts including knee and ankle joints. Cable-driven systems for gait therapy applications can apply controlled forces to, in respective embodiments, the pelvis and the pelvis, knee and ankle joints. In further embodiments, systems for gait therapy can be treadmill-based or walker-based. In embodiments, a controlled downforce is applied to the hip with augmentation including supportive forces. In further embodiments, the technology is activated through cables that provide support and limb-flexing moments with low inertia and friction resistance. In further embodiments, assistance is configured for gait therapy in children. In still further embodiments, methods of rehabilitation and assist-as-needed (AAN) control of the gait therapy systems facilitate a patient's ability to coordinate movement, control balance, achieve strength, and other beneficial outcomes.