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Article title METHODOLOGICAL BASES OF EXOBALANCER DESIGN FOR REHABILITATION OF PEOPLE WITH LIMITED MOBILITY AND IMPAIRED BALANCE MAINTENANCE
Authors A.V. Bakhshiev, E.Yu. Smirnova, P.E. Musienko
Section SECTION VI. MEDICAL ROBOTICS
Month, Year 10, 2015 @en
Index UDC 004.942+004.896
DOI
Abstract Currently, the problems of limited mobility persons rehabilitation are very relevant (the limited mobility occurs due to spinal injuries and spinal cord injuries, stroke and other neuromotor diseases). The loss of mobility, inability to maintain body weight and balance, etc. causes numerous somatic disorders, contributes to the progression of urological, venous, cardiovascular disorders. Existing neurorehabilitation systems designed to compensate movement disorders, are based on passive springy sup-port, balancing mechanisms, or force control, which generate vertical forces at the level of the trunk while driving on the treadmill belt. Diseases and injuries of the brain and spinal cord are often accompanied by disturbances of postural and locomotor functions. To restore the active movement in space there are needed neurorehabilitation activities, aimed at both components of physical activity. Allocation of these sub-functions is of great importance to as- sess violations and subsequent locomotor neurorehabilitation. Conceptually, neurorehabilitation systems should act as a neuroprosthesis acting both on the motor (propulsion) properties, and the ability to maintain balance. We describe the algorithmic structure of the project to develop containment system of dynamic balance stabilization (exobalanсer). The system should ensure the neurorehabilitation of people with limited mobility and impaired balance maintenance, which occur due to neuromotor disorders. The reflex pathways and structure of spinal neural network control system underlying the control of movements and balance are discussed.

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Keywords Exobalancer; exoskeleton; neural network; motor control; neuromotor disorders; balance control; neurorehabilitation.
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