From: Robot-supported assessment of balance in standing and walking
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 |