Realization of gait rehabilitation using compliant force coordinate transformation control

Author(s):  
Misako Sasayama ◽  
Toshiyuki Murakami
GeroPsych ◽  
2016 ◽  
Vol 29 (1) ◽  
pp. 29-36 ◽  
Author(s):  
Véronique Cornu ◽  
Jean-Paul Steinmetz ◽  
Carine Federspiel

Abstract. A growing body of research demonstrates an association between gait disorders, falls, and attentional capacities in older adults. The present work empirically analyzes differences in gait parameters in frail institutionalized older adults as a function of selective attention. Gait analysis under single- and dual-task conditions as well as selective attention measures were collected from a total of 33 nursing-home residents. We found that differences in selective attention performances were related to the investigated gait parameters. Poorer selective attention performances were associated with higher stride-to-stride variabilities and a slowing of gait speed under dual-task conditions. The present findings suggest a contribution of selective attention to a safe gait. Implications for gait rehabilitation programs are discussed.


2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Zhendong Song ◽  
Wei Chen ◽  
Wenbing Wang ◽  
Guoqing Zhang

This paper proposes a body weight support (BWS) system with a series elastic actuator (SEA) to facilitate walking assistance and motor relearning during gait rehabilitation. This system comprises the following: a mobile platform that ensures movement of the system on the ground, a BWS mechanism with an SEA that is capable of providing the desired unloading force, and a pelvic brace to smooth the pelvis motions. The control of the body weight support is realized by an active weight-offload method, and a dynamic model of the BWS system with offload mass of a human is conducted to simulate the control process and optimize the parameters. Preliminary results demonstrate that the BWS system can provide the desired support force and vertical motion of the pelvis.


2020 ◽  
Vol 2020 (12) ◽  
Author(s):  
Hsu-Wen Chiang ◽  
Yu-Hsien Kung ◽  
Pisin Chen

Abstract One interesting proposal to solve the black hole information loss paradox without modifying either general relativity or quantum field theory, is the soft hair, a diffeomorphism charge that records the anisotropic radiation in the asymptotic region. This proposal, however, has been challenged, given that away from the source the soft hair behaves as a coordinate transformation that forms an Abelian group, thus unable to store any information. To maintain the spirit of the soft hair but circumvent these obstacles, we consider Hawking radiation as a probe sensitive to the entire history of the black hole evaporation, where the soft hairs on the horizon are induced by the absorption of a null anisotropic flow, generalizing the shock wave considered in [1, 2]. To do so we introduce two different time-dependent extensions of the diffeomorphism associated with the soft hair, where one is the backreaction of the anisotropic null flow, and the other is a coordinate transformation that produces the Unruh effect and a Doppler shift to the Hawking spectrum. Together, they form an exact BMS charge generator on the entire manifold that allows the nonperturbative analysis of the black hole horizon, whose surface gravity, i.e. the Hawking temperature, is found to be modified. The modification depends on an exponential average of the anisotropy of the null flow with a decay rate of 4M, suggesting the emergence of a new 2-D degree of freedom on the horizon, which could be a way out of the information loss paradox.


Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 705
Author(s):  
Fatemeh Rasouli ◽  
Kyle B. Reed

Dynamic models, such as double pendulums, can generate similar dynamics as human limbs. They are versatile tools for simulating and analyzing the human walking cycle and performance under various conditions. They include multiple links, hinges, and masses that represent physical parameters of a limb or an assistive device. This study develops a mathematical model of dissimilar double pendulums that mimics human walking with unilateral gait impairment and establishes identical dynamics between asymmetric limbs. It introduces new coefficients that create biomechanical equivalence between two sides of an asymmetric gait. The numerical solution demonstrates that dissimilar double pendulums can have symmetric kinematic and kinetic outcomes. Parallel solutions with different physical parameters but similar biomechanical coefficients enable interchangeable designs that could be incorporated into gait rehabilitation treatments or alternative prosthetic and ambulatory assistive devices.


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