scholarly journals Toward the Gait Analysis and Control of a Powered Lower Limb Orthosis in Ascending and Descending Stairs

2014 ◽  
Vol 79 ◽  
pp. 417-426 ◽  
Author(s):  
Hsien-Yung Huang ◽  
Jian-Shiang Chen ◽  
Chia-En Huang
Keyword(s):  
Gait Analysis ◽  
Lower Limb ◽  
And Control

scholarly journals On Expressive Features for Gait Analysis using Lower Limb Inertial Sensor Data

2020 ◽  
Vol 53 (2) ◽  
pp. 15990-15997
Author(s):  
Felix Laufer ◽  
Michael Lorenz ◽  
Bertram Taetz ◽  
Gabriele Bleser
Keyword(s):  
Gait Analysis ◽  
Lower Limb ◽  
Inertial Sensor ◽  
Sensor Data

scholarly journals Joint angle estimation with wavelet neural networks

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Saaveethya Sivakumar ◽  
Alpha Agape Gopalai ◽  
King Hann Lim ◽  
Darwin Gouwanda ◽  
Sunita Chauhan
Keyword(s):  
Gait Analysis ◽  
Real Time ◽  
Monitoring Applications ◽  
Reaction Forces ◽  
Multiple Sensor ◽  
Vertical Ground ◽  
Overall Performance ◽  
Gait Monitoring ◽  
Vertical Ground Reaction Forces ◽  
And Control

AbstractThis paper presents a wavelet neural network (WNN) based method to reduce reliance on wearable kinematic sensors in gait analysis. Wearable kinematic sensors hinder real-time outdoor gait monitoring applications due to drawbacks caused by multiple sensor placements and sensor offset errors. The proposed WNN method uses vertical Ground Reaction Forces (vGRFs) measured from foot kinetic sensors as inputs to estimate ankle, knee, and hip joint angles. Salient vGRF inputs are extracted from primary gait event intervals. These selected gait inputs facilitate future integration with smart insoles for real-time outdoor gait studies. The proposed concept potentially reduces the number of body-mounted kinematics sensors used in gait analysis applications, hence leading to a simplified sensor placement and control circuitry without deteriorating the overall performance.

scholarly journals MECHANICAL CHARACTERISTICS ANALYSIS OF A BIONIC MUSCLE CABLE-DRIVEN LOWER LIMB REHABILITATION ROBOT

2020 ◽  
Vol 20 (10) ◽  
pp. 2040037
Author(s):  
YAN-LIN WANG ◽  
KE-YI WANG ◽  
ZI-XING ZHANG ◽  
LIANG-LIANG CHEN ◽  
ZONG-JUN MO
Keyword(s):  
Lower Limb ◽  
Mechanical Characteristics ◽  
Safety Evaluation ◽  
Parallel Robots ◽  
Rehabilitation Robot ◽  
Machine Model ◽  
Characteristics Analysis ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Cable-driven parallel robots (CDPR) have been well used in the rehabilitation field. However, the cables can provide the tension in a single direction, there is a pseudo-drag phenomenon of the cables in the CDPR, which will have a great impact on the safety of patients. Therefore, the novelty of this work is that a bionic muscle cable is used to replace the ordinary cable in the CDPR, which can solve the pseudo-drag phenomenon of the cables in the CDPR and improve the safety performance of the rehabilitation robot. The cable-driven lower limb rehabilitation robot with bionic muscle cables is called as the bionic muscle cable-driven lower limb rehabilitation robot (BMCDLR). The motion planning of the rigid branch chain of the BMCDLR is studied, and the dynamics and system stiffness of the BMCDLR are analyzed based on the man–machine model in this paper. The influence of the parameters of the elastic elements in the bionic muscle cables on the mechanical characteristics of the BMCDLR system was analyzed by using simulation experiments. The research results can provide a reference basis for research on the safety evaluation and control methods of the BMCDLR system.

scholarly journals Development of human lower limbs exoskeleton robot for medical rehabilitation

2021 ◽  
pp. 91-97
Author(s):  
E. A. Kotov ◽  
◽  
A. D. Druk ◽  
D. N. Klypin ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Experimental Research ◽  
Lower Limb ◽  
Lower Limbs ◽  
Medical Rehabilitation ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Controlled Motion ◽  
And Control

The article deals with the solution of the problem of optimizing the characteristics of controlled motion of human lower limb exoskeleton robot for improving medical rehabilitation. The aim of the work is to develop a rehabilitation device capable of providing controlled motion in two planes, as well as maintaining balance without loss of mobility. The design and control system of a rehabilitation trainer designed for performing mechanotherapy of the lower limbs of patients with locomotive disorders are proposed and characterized. The developed system has a number of significant differences from analogues and can be recommended for experimental research on patients with impaired locomotive functions

scholarly journals Prosthetics for Lower Limb Amputation

2021 ◽  
Author(s):  
P. Senthil Selvam ◽  
M. Sandhiya ◽  
K. Chandrasekaran ◽  
D. Hepzibah Rubella ◽  
S. Karthikeyan
Keyword(s):  
Gait Analysis ◽  
Lower Limb ◽  
Lower Limb Amputation ◽  
Complete Picture ◽  
Limb Amputation ◽  
Advantages And Disadvantages ◽  
Diagrammatic Representation ◽  
Mechanical Component ◽  
Lower Limb Prosthesis ◽  
Limb Prosthesis

The Chapter will include a brief note on Amputation, Particularly Lower Limb Amputation (LLA), Levels and Causes of LLA. Importance of Prosthetics for LLA are explained in detail. The types of Prosthesis, Application (Donning & Doffing) of prosthesis are included in this chapter. Diagrammatic representation of the prosthesis are added too. Bio mechanical component is explained in detail within this chapter. The advantages and disadvantages of each and every Lower limb Prosthesis are clearly mentioned. Moreover, the Gait analysis & Training after the application of prosthesis are discussed. The reader will get a complete picture of Prosthetics for Lower limb Amputation by going through this chapter for lower limb prosthesis.

scholarly journals Impact of ankle-foot orthoses on gait 1 year after lower limb surgery in children with bilateral cerebral palsy

2018 ◽  
Vol 43 (1) ◽  
pp. 12-20 ◽  
Author(s):  
Ingrid Skaaret ◽  
Harald Steen ◽  
Terje Terjesen ◽  
Inger Holm
Keyword(s):  
Cerebral Palsy ◽  
Gait Analysis ◽  
Lower Limb ◽  
Three Dimensional ◽  
Foot Orthoses ◽  
Important Improvement ◽  
Gait Dysfunction ◽  
Ankle Foot Orthoses ◽  
Profile Score ◽  
Lower Limb Surgery

Background: Different types of ankle-foot orthoses are commonly used following lower limb surgery in children with bilateral spastic cerebral palsy. After three-dimensional gait analysis 1 year postoperatively, many children are recommended continued use of ankle-foot orthoses. Objectives: Our aims were to quantify the impact of ankle-foot orthoses on gait 1 year postoperatively and evaluate predictors for clinically important improvement. Study design: Prospective cohort study. Methods: A total of 34 ambulating children with bilateral cerebral palsy, with mean age 11 years (range 6–17), comprising 12 girls and 22 boys, were measured with three-dimensional gait analysis preoperatively (barefoot) and 1 year postoperatively (barefoot and with ankle-foot orthoses). Outcome was evaluated using gait profile score, key kinematic, kinetic and temporal–spatial variables in paired sample comparisons. Logistic regression was used to evaluate predictors for clinically important improvement with orthoses (⩾1.6° change in gait profile score). Results: Walking barefoot 1 year postoperatively, major improvements were seen in gait profile score and key variables. With ankle-foot orthoses, there were significantly improved step length and velocity, additional moderate reduction/improvement in gait profile score and knee moments and decreased stance ankle dorsiflexion compared to barefoot. Children using ground reaction ankle-foot orthoses ( n = 14) decreased stance knee flexion from 13.9° walking barefoot to 8.2° with orthoses. High gait profile score and more gait dysfunction preoperatively were significant predictors of clinically important improvement walking with orthoses. Conclusion: The results indicate improved gait function walking with ankle-foot orthoses versus barefoot 1 year after lower limb surgery. Stronger impact of ankle-foot orthoses was found in children with more pronounced gait dysfunction preoperatively. Clinical relevance The 1-year postoperative three-dimensional gait analysis is a useful method to assess treatment outcome after lower limb surgery in children with bilateral cerebral palsy and could also guide clinicians whether further treatment with ankle-foot orthoses is indicated, using clinically important differences as thresholds to evaluate their impact on gait.

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