The LegoPress: A Rehabilitation, Performance Assessment and Training Device Mechanical Design and Control

  • Jeremy OlivierEmail author
  • Maxime Jeanneret
  • Mohamed Bouri
  • Hannes Bleuler
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)


In this paper we present the LegoPress, a simple and cost-effective robotic device intended to be used for leg-press movements in rehabilitation and training. Basic adjustments can be done on the sitting position so as to maximize comfort and adapt the posture of the user depending on the desired training. The LegoPress has two motorized axes independently acting on the two legs. By means of force sensors positioned at the pedal level, a precise monitoring is possible. The force sensor is as well used to improve the impedance control, which enables to reproduce various behaviors. The device is not only able to mobilize the user’s legs but also to interact with her/him.


Rehabilitation Leg press Impedance control 



This research was supported by the National Center of Competences in Research Robotics. We also would like to thank Sylvain Tozzini for his contribution to the mechanical design of the LegoPress.


  1. 1.
    Jezernik, S., Colombo, G., Keller, T., Frueh, H., Morari, M.: Robotic orthosis Lokomat: a rehabilitation and research tool. Neuromodulation Technol. Neural Interface 6, 108–115 (2003)CrossRefGoogle Scholar
  2. 2.
    Maffiuletti, N.A., Bizzini, M., Desbrosses, K., Babault, N., Munzinger, U.: Reliability of knee extension and flexion measurements using the Con-Trex isokinetic dynamometer. Clin. Physiol. Funct. Imaging 27, 346–353 (2007)CrossRefGoogle Scholar
  3. 3.
    Stauffer, Y., Allemand, Y., Bouri, M., Fournier, J., Clavel, R., Metrailler, P., Brodard, R., Reynard, F.: The WalkTrainer—a new generation of walking reeducation device combining orthoses and muscle stimulation. IEEE Trans. Neural Syst. Rehabil. Eng. 17, 38–45 (2009)CrossRefGoogle Scholar
  4. 4.
    Métrailler, P., Blanchard, V., Perrin, I., Brodard, R., Frischknecht, R., Schmitt, C., Fournier, J., Bouri, M., Clavel, R.: Improvement of rehabilitation possibilities with the MotionMaker TM. In: International Conference on Robotics and Biomimetics ROBIO, pp. 359–364. IEEE (2006)Google Scholar
  5. 5.
    Bouri, M., Le Gall, B., Clavel, R.: A new concept of parallel robot for rehabilitation and fitness: the Lambda. In: International Conference on Robotics and Biomimetics ROBIO, pp. 2503–2508. IEEE (2009)Google Scholar
  6. 6.
    Bouri, M., Abdi, E., Bleuler, H., Reynard, F., Deriaz, O.: Lower limbs robotic rehabilitation case study with clinical trials. In: Rodić, A., Pisla, D., Bleuler, H. (eds.) New Trends in Medical and Service Robots, pp. 31–44. Springer, Bern (2014)CrossRefGoogle Scholar
  7. 7.
    Carignan, C.R., Cleary, K.R.: Closed-loop force control for haptic simulation of virtual environments. Haptics-e 1, 1–14 (2000)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Jeremy Olivier
    • 1
    Email author
  • Maxime Jeanneret
    • 1
  • Mohamed Bouri
    • 1
  • Hannes Bleuler
    • 1
  1. 1.Laboratory of Robotic Systems (LSRO)Swiss Federal Institute of Technology Lausanne (EPFL)LausanneSwitzerland

Personalised recommendations