Seated Balance Using the Indego™

2019 ◽  
Author(s):  
Keyword(s):  
Seated Balance

Determining Human Control Intent Using Inverse LQR Solutions

2013 ◽  
Author(s):  
M. Cody Priess ◽  
Jongeun Choi ◽  
Clark Radcliffe
Keyword(s):  
Human Subjects ◽  
Optimal Solution ◽  
Linear Matrix ◽  
Minimization Method ◽  
Human Control ◽  
Balance Task ◽  
Lqr Problem ◽  
Seated Balance ◽  
Gradient Based ◽  
Time Invariant

In this paper, we have developed a method for determining the control intention in human subjects during a prescribed motion task. Our method is based on the solution to the inverse LQR problem, which can be stated as: does a given controller K describe the solution to a time-invariant LQR problem, and if so, what weights Q and R produce K as the optimal solution? We describe an efficient Linear Matrix Inequality (LMI) method for determining a solution to the general case of this inverse LQR problem when both the weighting matrices Q and R are unknown. Additionally, we propose a gradient-based, least-squares minimization method that can be applied to approximate a solution in cases when the LMIs are infeasible. We develop a model for an upright seated-balance task which will be suitable for identification of human control intent once experimental data is available.

Poster 33: Quantitative Measures of Seated Balance and Recovery of Postural Control in Acute Stroke

2008 ◽  
Vol 89 (10) ◽  
pp. e17
Author(s):  
Cynthia Danells ◽  
John Zettle ◽  
Avril Mansfield ◽  
Sandra Black ◽  
William McIlroy
Keyword(s):  
Postural Control ◽  
Acute Stroke ◽  
Seated Balance

scholarly journals Analysis of trunk muscle EMG during rotational motion

2021 ◽  
Author(s):  
Nika Zolfaghari
Keyword(s):  
Rotational Motion ◽  
Muscle Activity ◽  
Trunk Muscle ◽  
Trunk Muscles ◽  
Wheelchair Users ◽  
Area Of Interest ◽  
Shoulder Muscles ◽  
Seated Balance ◽  
The Subject ◽  
Rotational Direction

The study of seated balance, specifically for the application of wheelchair users, has been an area of interest for quite some time. Unfortunately, most of the available studies to date have focused on upper limb and shoulder muscles, and little has been done analyzing the activity of trunk muscles (abdominal and back). For the purpose of this study, motorized rotational motion in the forward and backward directions at ±45 degrees was simulated, and the corresponding trunk muscle activity of nine healthy subjects was recorded by surface electromyography (EMG) for eight muscles, including an analysis on the effect of holding on to a harness for support, coupled with the presence of a visual input. The collected raw data was filtered, and the produced results illustrated that the muscle activity was greatest in the forward rotational direction, when the subject was holding on to a harness for support, with visuals present.

scholarly journals A closed-loop self-righting controller for seated balance in the coronal and diagonal planes following spinal cord injury

2020 ◽  
Vol 86 ◽  
pp. 47-56
Author(s):  
Akhil Bheemreddy ◽  
Lisa M. Lombardo ◽  
Michael E. Miller ◽  
Kevin M. Foglyano ◽  
Stephanie Nogan-Bailey ◽  
...  
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Closed Loop ◽  
Cord Injury ◽  
Seated Balance

scholarly journals Inferring Control Intent During Seated Balance Using Inverse Model Predictive Control

2019 ◽  
Vol 4 (2) ◽  
pp. 224-230 ◽  
Author(s):  
Ahmed Ramadan ◽  
Jongeun Choi ◽  
Clark J. Radcliffe ◽  
John M. Popovich ◽  
N. Peter Reeves
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Inverse Model ◽  
Seated Balance

scholarly journals A Novel Trunk Rehabilitation Robot Based Evaluation of Seated Balance Under Varying Seat Surface and Visual Conditions

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 204902-204913
Author(s):  
Amre Eizad ◽  
Hosu Lee ◽  
Sanghun Pyo ◽  
Muhammad Raheel Afzal ◽  
Sung-Ki Lyu ◽  
...  
Keyword(s):  
Rehabilitation Robot ◽  
Seated Balance ◽  
Visual Conditions

scholarly journals Trunk muscle coactivation is tuned to changes in task dynamics to improve responsiveness in a seated balance task

2015 ◽  
Vol 25 (5) ◽  
pp. 765-772 ◽  
Author(s):  
Nathalie M.C.W. Oomen ◽  
N. Peter Reeves ◽  
M. Cody Priess ◽  
Jaap H. van Dieën
Keyword(s):  
Trunk Muscle ◽  
Balance Task ◽  
Seated Balance

scholarly journals Intrinsic and Extrinsic Contributions to Seated Balance in the Sagittal and Coronal Planes: Implications for Trunk Control After Spinal Cord Injury

2015 ◽  
Vol 31 (4) ◽  
pp. 221-228 ◽  
Author(s):  
Musa L. Audu ◽  
Ronald J. Triolo
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Model Parameters ◽  
Active System ◽  
Trunk Control ◽  
Cord Injury ◽  
Seated Balance ◽  
The Time Domain ◽  
Trunk Orientation ◽  
Spinal Cord Injured

The contributions of intrinsic (passive) and extrinsic (active) properties of the human trunk, in terms of the simultaneous actions about the hip and spinal joints, to the control of sagittal and coronal seated balance were examined. Able-bodied (ABD) and spinal-cord-injured (SCI) volunteers sat on a moving platform which underwent small amplitude perturbations in the anterior-posterior (AP) and medial-lateral (ML) directions while changes to trunk orientation were measured. A linear parametric model that related platform movement to trunk angle was fit to the experimental data by identifying model parameters in the time domain. The results showed that spinal cord injury leads to a systematic reduction in the extrinsic characteristics, while most of the intrinsic characteristics were rarely affected. In both SCI and ABD individuals, passive characteristics alone were not enough to maintain seated balance. Passive stiffness in the ML direction was almost 3 times that in the AP direction, making more extrinsic mechanisms necessary for balance in the latter direction. Proportional and derivative terms of the extrinsic model made the largest contribution to the overall output from the active system, implying that a simple proportional plus derivative (PD) controller structure will suffice for restoring seated balance after spinal cord injury.

The effects of trunk stiffness on postural control during unstable seated balance

2006 ◽  
Vol 174 (4) ◽  
pp. 694-700 ◽  
Author(s):  
N. Peter Reeves ◽  
Vanessa Q. Everding ◽  
Jacek Cholewicki ◽  
David C. Morrisette
Keyword(s):  
Postural Control ◽  
Seated Balance

scholarly journals Analysis of trunk muscle EMG during rotational motion

2021 ◽  
Author(s):  
Nika Zolfaghari
Keyword(s):  
Rotational Motion ◽  
Muscle Activity ◽  
Trunk Muscle ◽  
Trunk Muscles ◽  
Wheelchair Users ◽  
Area Of Interest ◽  
Shoulder Muscles ◽  
Seated Balance ◽  
The Subject ◽  
Rotational Direction

The study of seated balance, specifically for the application of wheelchair users, has been an area of interest for quite some time. Unfortunately, most of the available studies to date have focused on upper limb and shoulder muscles, and little has been done analyzing the activity of trunk muscles (abdominal and back). For the purpose of this study, motorized rotational motion in the forward and backward directions at ±45 degrees was simulated, and the corresponding trunk muscle activity of nine healthy subjects was recorded by surface electromyography (EMG) for eight muscles, including an analysis on the effect of holding on to a harness for support, coupled with the presence of a visual input. The collected raw data was filtered, and the produced results illustrated that the muscle activity was greatest in the forward rotational direction, when the subject was holding on to a harness for support, with visuals present.

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