Kinematic comparison of single degree-of-freedom robotic gait trainers

2021 ◽  
Vol 159 ◽  
pp. 104258
Author(s):  
Jeonghwan Lee ◽  
Lailu Li ◽  
Sung Yul Shin ◽  
Ashish D. Deshpande ◽  
James Sulzer
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Robotic Gait

Design of a Single Degree-of-Freedom, Adaptable Electromechanical Gait Trainer for People With Neurological Injury

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Sung Yul Shin ◽  
Ashish D. Deshpande ◽  
James Sulzer
Keyword(s):  
Low Cost ◽  
Degree Of Freedom ◽  
Neurological Injury ◽  
Link Length ◽  
Gait Patterns ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Wide Range ◽  
Robotic Gait ◽  
Gait Trainer

The cost of therapy is one of the most significant barriers to recovery after neurological injury. Robotic gait trainers move the legs through repetitive, natural motions imitating gait. Recent meta-analyses conclude that such training improves walking function in neurologically impaired individuals. While robotic gait trainers promise to reduce the physical burden on therapists and allow greater patient throughput, they are prohibitively costly. Our novel approach is to design a new single degree-of-freedom (DoF) robotic trainer that maintains the key advantages of the expensive trainers but with a simplified design to reduce cost. Our primary design challenge is translating the motion of a single actuator to an array of natural gait trajectories. We address this with an eight-link Jansen mechanism that matches a generalized gait trajectory. We then optimize the mechanism to match different trajectories through link length adjustment based on nine different gait patterns obtained from gait database of 113 healthy individuals. To physically validate the range in gait patterns produced by the simulation, we tested kinematic accuracy on a motorized wooden proof-of-concept of the gait trainer. The simulation and experimental results suggested that an adjustment of two links can reasonably fit a wide range of gait patterns under typical within-subject variance. We conclude that this design could provide the basis for a low-cost, patient-based electromechanical gait trainer for neurorecovery.

Single‐degree‐of‐freedom system with an infinite number of equilibrium positions

1982 ◽  
Vol 50 (8) ◽  
pp. 759-760
Author(s):  
E. Wilms ◽  
S. Onyshko ◽  
W. Lehn
Keyword(s):  
Infinite Number ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree

Single-Degree-of-Freedom Based Pressure-Impulse Diagrams for Blast Damage Assessment

2014 ◽  
Vol 567 ◽  
pp. 499-504 ◽  
Author(s):  
Zubair Imam Syed ◽  
Mohd Shahir Liew ◽  
Muhammad Hasibul Hasan ◽  
Srikanth Venkatesan
Keyword(s):  
Damage Assessment ◽  
Structural Response ◽  
Blast Loading ◽  
Computational Effort ◽  
Degree Of Freedom ◽  
Negative Phase ◽  
Single Degree Of Freedom ◽  
Pressure Impulse ◽  
Single Degree ◽  
Structural Resistance

Pressure-impulse (P-I) diagrams, which relates damage with both impulse and pressure, are widely used in the design and damage assessment of structural elements under blast loading. Among many methods of deriving P-I diagrams, single degree of freedom (SDOF) models are widely used to develop P-I diagrams for damage assessment of structural members exposed to blast loading. The popularity of the SDOF method in structural response calculation in its simplicity and cost-effective approach that requires limited input data and less computational effort. The SDOF model gives reasonably good results if the response mode shape is representative of the real behaviour. Pressure-impulse diagrams based on SDOF models are derived based on idealised structural resistance functions and the effect of few of the parameters related to structural response and blast loading are ignored. Effects of idealisation of resistance function, inclusion of damping and load rise time on P-I diagrams constructed from SDOF models have been investigated in this study. In idealisation of load, the negative phase of the blast pressure pulse is ignored in SDOF analysis. The effect of this simplification has also been explored. Matrix Laboratory (MATLAB) codes were developed for response calculation of the SDOF system and for repeated analyses of the SDOF models to construct the P-I diagrams. Resistance functions were found to have significant effect on the P-I diagrams were observed. Inclusion of negative phase was found to have notable impact of the shape of P-I diagrams in the dynamic zone.

scholarly journals An approach to quantify the influence of ground motion uncertainty on elastoplastic system acceleration in incremental dynamic analysis

2017 ◽  
Vol 20 (11) ◽  
pp. 1744-1756 ◽  
Author(s):  
Peng Deng ◽  
Shiling Pei ◽  
John W. van de Lindt ◽  
Hongyan Liu ◽  
Chao Zhang
Keyword(s):  
Dynamic Analysis ◽  
Ground Motion ◽  
Earthquake Engineering ◽  
Structural Response ◽  
Incremental Dynamic Analysis ◽  
Degree Of Freedom ◽  
Maximum Acceleration ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Performance Based Earthquake Engineering

Inclusion of ground motion–induced uncertainty in structural response evaluation is an essential component for performance-based earthquake engineering. In current practice, ground motion uncertainty is often represented in performance-based earthquake engineering analysis empirically through the use of one or more ground motion suites. How to quantitatively characterize ground motion–induced structural response uncertainty propagation at different seismic hazard levels has not been thoroughly studied to date. In this study, a procedure to quantify the influence of ground motion uncertainty on elastoplastic single-degree-of-freedom acceleration responses in an incremental dynamic analysis is proposed. By modeling the shape of the incremental dynamic analysis curves, the formula to calculate uncertainty in maximum acceleration responses of linear systems and elastoplastic single-degree-of-freedom systems is constructed. This closed-form calculation provided a quantitative way to establish statistical equivalency for different ground motion suites with regard to acceleration response in these simple systems. This equivalence was validated through a numerical experiment, in which an equivalent ground motion suite for an existing ground motion suite was constructed and shown to yield statistically similar acceleration responses to that of the existing ground motion suite at all intensity levels.

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