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<p>The integration of robotics and Electrical Stimulation (ES) in neurorehabilitation leverages robotics’ precise task execution alongside ES-induced motor learning, muscle conditioning, and cardiovascular benefits. We propose a hybrid system for overground gait training, combining neuromuscular ES and a motorized exoskeleton. Different combination modalities are proposed: ES-motor cooperation for the swinging knee, synchronized but independent ES and motor assistance for hip movements and for the knee during stance, and ES-only for the non-actuated ankle. Twelve non-disabled subjects and eleven participants with neurological disorders tested the system under two conditions: exoskeleton-only and hybrid. The hybrid condition reduced knee motor torque by 48% during swing without compromising tracking accuracy, showing that ES can effectively drive limb motion. Neurological participants rated the hybrid system as more usable than the exoskeleton alone (median 5-point improvement of System Usability Scale). These findings support the feasibility of hybrid ES-motorized exoskeletons in clinical settings. Future studies should investigate their potential to enhance therapeutic outcomes.</p>

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A multifaceted hybrid ES-robotic device for gait training in individuals with neurological disorders

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年9月26日

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  • Francesca Dell’Eva,
  • Eleonora Guanziroli,
  • Viola Camerini,
  • Marta Gandolla,
  • Laura Brignole,
  • Stefano Maludrottu,
  • Emanuele Gruppioni,
  • Giancarlo Ferrigno,
  • Franco Molteni,
  • Emilia Ambrosini,
  • Alessandra Pedrocchi

摘要

The integration of robotics and Electrical Stimulation (ES) in neurorehabilitation leverages robotics’ precise task execution alongside ES-induced motor learning, muscle conditioning, and cardiovascular benefits. We propose a hybrid system for overground gait training, combining neuromuscular ES and a motorized exoskeleton. Different combination modalities are proposed: ES-motor cooperation for the swinging knee, synchronized but independent ES and motor assistance for hip movements and for the knee during stance, and ES-only for the non-actuated ankle. Twelve non-disabled subjects and eleven participants with neurological disorders tested the system under two conditions: exoskeleton-only and hybrid. The hybrid condition reduced knee motor torque by 48% during swing without compromising tracking accuracy, showing that ES can effectively drive limb motion. Neurological participants rated the hybrid system as more usable than the exoskeleton alone (median 5-point improvement of System Usability Scale). These findings support the feasibility of hybrid ES-motorized exoskeletons in clinical settings. Future studies should investigate their potential to enhance therapeutic outcomes.