The Technical Development of a Prototype Lower-Limb Therapy Device for Bed-Resting Users

It is generally recommended that bed-resting patients be mobilised early to promote recovery. The aim of this work was to develop and evaluate the usability of a
prototype in-bed lower-limb therapy device that offers various training patterns for the feet and legs, featuring an intuitive user interface and interactive exergames. Based on clinical interviews, the user requirements for the device were determined. The therapy device consisted of two compact foot platforms with integrated electric motors and force sensors. Movement control strategies and a user interface with computer games were developed. Through a touch screen, the target force and position trajectories were defined. Using automatic position and force control algorithms, the device produced leg flexion/extension with synchronised ankle plantarflexion/dorsiflexion as well as leg pressing with adjustable resistive loading. An evaluation test on 12 able-bodied participants showed that the device produced passive (mean position control errors: 8.91 mm linearly and 1.62◦ in the ankle joints) and active leg training (force control error: 2.52 N). The computer games were proven to be interesting, engaging, and responsive to the training movement. It was demonstrated that the device was technically usable in terms of mechatronics, movement control, user interface, and computer games. The advancements in well-controlled movement, multimodal training patterns, convenient operation, and intuitive feedback enable the compact therapy device to be a potential system for bed-resting users to improve physical activity and cognitive functionality.