People with Parkinson’s disease (PD) suffer from declining mobility capabilities, which cause a prevalent risk of falling. Commonly, short periods of motor blocks occur during walking, known as freezing of gait (FoG). To slow the progressive decline of motor abilities, people with PD usually undertake stationary motor-training exercises in the clinics or supervised by physiotherapists. We present a wearable system for the support of people with PD and FoG. The system is designed for independent use. It enables motor training and gait assistance at home and other unsupervised environments. The system consists of three components. First, FoG episodes are detected in real time using wearable inertial sensors and a smartphone as the processing unit. Second, a feedback mechanism triggers a rhythmic auditory signal to the user to alleviate freeze episodes in an assistive mode. Third, the smartphone-based application features support for training exercises. Moreover, the system allows unobtrusive and long-term monitoring of the user’s clinical condition by transmitting sensing data and statistics to a telemedicine service. We investigate the at-home acceptance of the wearable system in a study with nine PD subjects. Participants deployed and used the system on their own, without any clinical support, at their homes during three protocol sessions in 1 week. Users’ feedback suggests an overall positive attitude toward adopting and using the system in their daily life, indicating that the system supports them in improving their gait. Further, in a data-driven analysis with sensing data from five participants, we study whether there is an observable effect on the gait during use of the system. In three out of five subjects, we observed a decrease in FoG duration distributions over the protocol days during gait-training exercises. Moreover, sensing data-driven analysis shows a decrease in FoG duration and FoG number in four out of five participants when they use the system as a gait-assistive tool during normal daily life activities at home.

Freezing of gait (FoG) is a common gait impairment among patients with advanced Parkinson's disease. FoG is associated with falls and negatively impacts the patient's quality of life. Wearable systems that detect FoG in real time have been developed to help patients resume walking by means of rhythmic cueing. Current methods focus on detection, which require FoG events to happen first, while their prediction opens the road to preemptive cueing, which might help subjects to avoid freeze altogether. We analyzed electrocardiography (ECG) and skin-conductance (SC) data from 11 subjects who experience FoG in daily life, and found statistically significant changes in ECG and SC data just before the FoG episodes, compared to normal walking. Based on these findings, we developed an anomaly-based algorithm for predicting gait freeze from relevant SC features. We were able to predict 71.3% from 184 FoG with an average of 4.2 s before a freeze episode happened. Our findings enable the possibility of wearable systems, which predict with few seconds before an upcoming FoG from SC, and start external cues to help the user avoid the gait freeze.

A newly developed hand rehabilitation system is presented that combines robotics and interactive gaming to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game.