Table 1 Goal settings of the ICF-CY and the robot-based solutions adopted with CPWalker platform
ICF-CY functional domain [13] | Implementation on CPWalker |
|---|---|
Mobility and stability of joint functions (b710, b715) | The different control modes of the exoskeleton are used to guide the movement of a single or multiple joints, improving motor control. The exoskeleton also helps to maintain stability through the coordinated actions of surrounding tissues. This domain is exercised along the whole treatment with diverse robotic assistance. |
Muscle power functions (b730) | The second phase of the training requires the patient to contract a muscle or muscle groups to generate the necessary force in order to start and maintain the movement with AAN strategies. The force must be maintained for a time in the extremes of the gait pattern (maximum flexion and extension) in order to reach the these maximum values in the complete range of motion. |
Muscle endurance functions (b740) | Muscle endurance is exercised when the patient is requested to sustain a muscle contraction to finalize the required movement with AAN strategies, mainly in the extremes of the gait pattern (maximum flexion and extension). |
Control of voluntary movement functions (b760) | The voluntary movement is implemented through the control and coordination of simple and complex movements to collaborate with AAN strategies. Lower impedance implies more patient’s control. |
Gait pattern functions (b770) | Motor control and gait pattern functions are trained through the different control modes to guide the lower limbs following prescribed gait patterns at several velocities and supports. |
Maintaining a body position (d415) | A biofeedback strategy for postural control is used to notify the patients when they lose the correct position of the upper body. See section “Postural control”. |
Walking (d450) | Over-ground walking training is executed in all sessions with controlled PBWS, at different velocities and supports. |
Proprioceptive functions (b260) | During random moments of the first training session, the patients perceive feeling using a mask on the eyes at the same time than the robot performs the movement for single or multiple joints with 100% of PBWS. |
Formal relationships (d740) | Creating and maintaining patient-researcher relationship. See section “Motivation and inclusion of challenges”. |