scholarly journals Quantifying Gait Impairment Using an Instrumented Treadmill in People with Multiple Sclerosis

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Alon Kalron ◽  
Zeevi Dvir ◽  
Lior Frid ◽  
Anat Achiron
Keyword(s):  
Multiple Sclerosis ◽  
Attractive Alternative ◽  
Functional Impairments ◽  
Double Support ◽  
Gait Parameters ◽  
Spatiotemporal Parameters ◽  
Edss Score ◽  
Base Of Support ◽  
Single Support Phase ◽  
Support Phase

Background and Objective. Treadmill gait analysis has been proposed as an attractive alternative for overground walking measuring systems. The purpose of this study was twofold: first to determine spatiotemporal parameters of treadmill gait in patients with multiple sclerosis (MS) and second to examine whether these parameters are associated with specific functional impairments in this cohort. Method. Eighty-seven relapsing-remitting patients diagnosed with MS, 50 women and 37 men, aged 40.9 ± 11.9 with an expanded disability status scale (EDSS) score of 2.7 ± 1.6, participated in this study. Twenty-five apparently healthy subjects, 14 women and 11 men, aged 38.5 ± 9.4, served as controls. Spatiotemporal gait parameters were obtained using the Zebris FDM-T Treadmill (Zebris Medical GmbH, Germany). People with MS demonstrated significantly shorter steps, extended stride time, wider base of support, longer step time, reduced single support phase, and a prolonged double support phase compared to the healthy controls. The EDSS score was significantly correlated with all spatiotemporal gait parameters. Conclusion. The instrumented treadmill may be an effective tool in assessing ambulation capabilities of people with MS.

scholarly journals Gait Characteristics of Adults With Intellectual Disability

2018 ◽  
Vol 123 (3) ◽  
pp. 283-299 ◽  
Author(s):  
Alyt Oppewal ◽  
Dederieke A. M. Festen ◽  
Thessa I. M. Hilgenkamp
Keyword(s):  
Older Adults ◽  
Body Mass Index ◽  
Intellectual Disability ◽  
Motor Functioning ◽  
Double Support ◽  
Gait Characteristics ◽  
Gait Parameters ◽  
Base Of Support ◽  
Negative Health Outcomes ◽  
Support Phase

Abstract Gait is a relevant and complex aspect of motor functioning. Disturbances are related to negative health outcomes. Gait characteristics of 31 adults with intellectual disability (ID) without Down syndrome (DS) (42.77±16.70 years) were investigated, and associations with age, sex, body mass index (BMI), and level of ID were assessed. Sex and BMI were significantly associated with some of the gait parameters, while age and level of ID were not. Gait characteristics of adults with ID seem to be comparable to those of the general population of older adults (average 20 years older), except that adults with ID seem to spend less time in stance and double support phase and walk more variable and with a broader base of support.

Comparison of Selected Gait Parameters of Trainable Mentally Retarded and Nonretarded Males

1983 ◽  
Vol 57 (1) ◽  
pp. 56-58 ◽  
Author(s):  
Robert A. Rider ◽  
Charles H. Imwold
Keyword(s):  
Mentally Retarded ◽  
Double Support ◽  
Gait Parameters ◽  
Single Support Phase ◽  
Support Phase ◽  
Trainable Mentally Retarded

Although there were no significant differences in the single support phase of gait for 6 trainable mentally retarded boys (Mean age 9.6 yr.) and 6 nonretarded boys (Mean age 9.5 yr.), total gait time and time in double support were significantly different for the two groups, supporting previous research which showed gait was deficient in trainable mentally retarded individuals.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

Effect of Heel to Toe Walking on Time Optimal Walking of a Biped During Single Support Phase

2014 ◽  
Author(s):  
Tara Farizeh ◽  
Mohammad Jafar Sadigh
Keyword(s):  
Whole Body ◽  
Maximum Speed ◽  
Flat Foot ◽  
Double Support ◽  
Time Optimal ◽  
Foot Model ◽  
Two Phases ◽  
Single Support Phase ◽  
Toe Walking ◽  
Support Phase

Dynamic modeling of a biped has gained lots of attention during past few decades. While stability and energy consumption were among the first issues which were considered by researchers, nowadays achieving maximum speed and improving pattern of motion to reach that speed are the important targets in this field. Walking model of bipeds usually includes two phases, single support phase (SSP), in which only the stance foot is in contact with the ground while the opposite leg is swinging; and double support phase (DSP) in which the swing leg is in contact with the ground in addition to the rear foot. It is common in the simplified model of walking to assume the stance leg foot, flat during the entire SSP; but one may know that for human walking, there is also a sub-phase during SSP in which the heel of stance foot leaves the ground while the whole body is supported by toe link. Actually in this sub phase the stance leg foot rotates around the toe joint. This paper is trying to study the effect of toe-link and heel to toe walking model on dynamic and specially speed of walking compare to flat foot model.

scholarly journals Walking Gait of a Biped with a Wearable Walking Assist Device

2015 ◽  
Vol 12 (04) ◽  
pp. 1550018 ◽  
Author(s):  
Yannick Aoustin
Keyword(s):  
Dynamic Model ◽  
Unique Solution ◽  
Energy Cost ◽  
Assist Device ◽  
Double Support ◽  
Kinematic Chains ◽  
Walking Gait ◽  
Time Period ◽  
Single Support Phase ◽  
Support Phase

A ballistic walking gait is designed for a planar biped equipped with a wearable walking assist device. The biped is a seven-link planar biped with two legs, two feet, and a trunk. The wearable walking assist device is composed of a bodyweight support, two upper legs, two lower legs, and two shoes. The dynamic model of the biped with its walking assist device, containing two closed kinematic chains, is calculated by virtually cutting each of both loops at one of their point. In the single support phase, the biped with its assist device moves due to the existence of a momentum, produced mechanically, without applying active torques in the inter-link joints. The biped and this assist device are controlled with impulsive torques at the instantaneous double support to obtain a cyclic gait. The impulsive torques are applied in the six inter-link joints of the biped and in several inter-link joints of the wearable walking assist device. The following distributions of impulsive torques, in the knees or the ankles, hips and knees, hips and ankles, or knees and ankles and the fully assist device, are compared with the case of no assistance for the biped. Each time, an infinity of solutions exists to find the impulsive torques. An energy cost functional defined from these impulsive torques is minimized to determine a unique solution. Numerical results show that for a given time period and a given length of the walking gait step, the assistance of the hips is a good compromise to help the biped.

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Robotica ◽  
2014 ◽  
Vol 34 (7) ◽  
pp. 1495-1516
Author(s):  
Yeoun-Jae Kim ◽  
Joon-Yong Lee ◽  
Ju-Jang Lee
Keyword(s):  
External Force ◽  
Control Strategy ◽  
Balance Control ◽  
Biped Robot ◽  
Second Step ◽  
Double Support ◽  
Zero Moment ◽  
External Forces ◽  
Single Support Phase ◽  
Support Phase

SUMMARYIn this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

scholarly journals Preferred Gait Characteristics in Young Adults in Qatar: Physiological, Perceptual, and Spatiotemporal Analysis

SAGE Open ◽  
2020 ◽  
Vol 10 (3) ◽  
pp. 215824402094572
Author(s):  
Lina Majed ◽  
Clint Hansen ◽  
Olivier Girard
Keyword(s):  
Young Adults ◽  
Perceived Exertion ◽  
Metabolic Cost ◽  
Spatiotemporal Analysis ◽  
Rating Of Perceived Exertion ◽  
Cost Of Transport ◽  
Gait Characteristics ◽  
Gait Parameters ◽  
Spatiotemporal Parameters ◽  
Support Phase

Preferred walking speed (PWS) is considered a robust measure for assessing mobility and overall health. Healthy reference data are unavailable for Qatar. The aim of this study was to investigate PWS and underlying gait parameters around PWS among healthy young adults living in Qatar. PWS was assessed for 18 Qataris (9 females) and 16 non-Qatari Arabs residing in Qatar (9 females). Within- and between-gender group comparisons were carried out using Mann–Whitney U-tests. Metabolic cost of transport, heart rate, rating of perceived exertion, and spatiotemporal parameters were compared between Qatari and non-Qatari groups of similar gender at seven speed levels relative to PWS using two-way analyses of variance (ANOVAs). Similar comparisons were done at two absolute speeds using Mann–Whitney U-tests. While PWS did not differ significantly between the female groups, it was on average 19% slower for the Qatari males as compared to non-Qatari males. At similar relative speeds, differences appeared solely in physiological parameters between female groups. Only spatiotemporal differences were revealed between the male groups where longer stride and support phase durations and slower stride frequencies characterized the Qatari male group. It is suggested that differences in PWS could be due to potential cultural factors (e.g., cultural clothing) differentiating the Qatari and non-Qatari groups. PWS values reported in this study also appear systematically lower when compared to Western references found in the literature. Findings suggest that the assessment of normative gait values needs to take both cultural habits and geographic disparity into account.

scholarly journals Effects of Robot-Assisted Therapy on Gait Parameters in Pediatric Patients With Spastic Cerebral Palsy

2021 ◽  
Vol 12 ◽  
Author(s):  
Faustyna Manikowska ◽  
Sabina Brazevic ◽  
Anna Krzyżańska ◽  
Marek Jóźwiak
Keyword(s):  
Cerebral Palsy ◽  
Gait Training ◽  
Spastic Cerebral Palsy ◽  
Gait Symmetry ◽  
Double Support ◽  
Patient Profile ◽  
Gait Parameters ◽  
Gait Deviation Index ◽  
Spatiotemporal Parameters

Background: Gait dysfunction is a crucial factor that restricts independence and quality of life in children with cerebral palsy (CP). Gait training based on robotic-assisted therapy (RAT) is widely used, but information about effectiveness and ideal patient profile is not sufficient. Aim of this study was to assess the effect of RAT on gait parameters in spastic children with CP, and to determine whether changes in gait parameters are different among patients on different ambulatory levels.Method: A total of 26 children with bilateral spastic CP were divided into two groups based on their functional ability: non-assisted ambulator (NAS) or assisted ambulator (AS); and underwent a RAT program (30 training sessions of RAT during 10 weeks). Gait analysis was performed: before the therapy (t1), right after (t2), and 6 weeks later (t3).Results: No significant changes in spatiotemporal parameters or gait deviation index at t2 or t3. Double support symmetry significantly improved (t1 vs. t3, p = 0.03) for the whole group (NAS + AS). Walking speed symmetry significantly improved (t2 vs. t3, p = 0.02) for group AS.Conclusion: RAT based on our protocol did not change spatiotemporal parameters and kinematics of walking except limited improvement in some aspects of gait symmetry. We did not find differences in changes in selected objective gait parameters among children with CP in different ambulatory levels.

scholarly journals Implementation and Integration of Fuzzy Algorithms for Descending Stair of KMEI Humanoid Robot

2020 ◽  
pp. 372-388
Author(s):  
Wulandari Puspita Sari ◽  
R. Sanggar Dewanto ◽  
Dadet Pramadihanto
Keyword(s):  
Humanoid Robot ◽  
Fuzzy Logic Controller ◽  
Integrated Control ◽  
Step Length ◽  
Smooth Transition ◽  
Double Support ◽  
Walking Gait ◽  
Single Support Phase ◽  
Support Phase ◽  
Double Support Phase

Locomotion of humanoid robot depends on the mechanical characteristic of the robot. Walking on descending stairs with integrated control systems for the humanoid robot is proposed. The analysis of trajectory for descending stairs is calculated by the constrains of step length stair using fuzzy algorithm. The established humanoid robot on dynamically balance on this matter of zero moment point has been pretended to be consisting of single support phase and double support phase. Walking transition from single support phase to double support phase is needed for a smooth transition cycle. To accomplish the problem, integrated motion and controller are divided into two conditions: motion working on offline planning and controller working online walking gait generation. To solve the defect during locomotion of the humanoid robot, it is directly controlled by the fuzzy logic controller. This paper verified the simulation and the experiment for descending stair of KMEI humanoid robot. 

scholarly journals Is There Any Relationship between Upper and Lower Limb Impairments in People with Multiple Sclerosis? A Kinematic Quantitative Analysis

2019 ◽  
Vol 2019 ◽  
pp. 1-6 ◽  
Author(s):  
Giancarlo Coghe ◽  
Federica Corona ◽  
Giuseppina Pilloni ◽  
Micaela Porta ◽  
Jessica Frau ◽  
...  
Keyword(s):  
Multiple Sclerosis ◽  
Lower Limb ◽  
Rank Correlation ◽  
Correlation Coefficients ◽  
Motor Tasks ◽  
Motor Abilities ◽  
Spearman’S Rank Correlation ◽  
Gait Parameters ◽  
Disability Status ◽  
Spatiotemporal Parameters

Background. In people with multiple sclerosis (pwMS), disability is generally assessed on the basis of ambulation abilities, whereas upper limb motor dysfunctions are less frequently considered. Nevertheless, they can severely affect the quality of life of pwMS. To date, it remains mostly unknown whether a relationship exists between upper and lower limb impairments. Aim. To investigate the existence of a relationship between upper and lower limb impairments in pwMS based on two fundamental motor tasks, namely walking and hand-to-mouth (HTM) movement. Methods. Twenty-eight pwMS with Expanded Disability Status Scale (EDSS) scores in the range of 1–6, and 21 healthy controls (HC) underwent a kinematic analysis of gait and HTM movement performed with a motion capture system. The spatiotemporal parameters for the two tasks were calculated and correlated using Spearman’s rank correlation coefficients. Results. The pwMS performed worse than HC on both tasks. Small to large correlations were found between the total HTM movement duration and most of the gait parameters (rho, 0.35–0.68; p<0.05). Conclusions. Both upper and lower limb motor abilities in pwMS worsen as disability increases. Nevertheless, their relationship is only moderate. This finding emphasizes the need for specific tests to quantify disability considering the overall motor function in pwMS.

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