Gait Guidance Control for Damping of Unnatural Motion in a Powered Pediatric Lower-Limb Orthosis

IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Curt A Laubscher, Jerzy T Sawicki

Abstract

The nominal gait of each individual is unique and varies with the walking speed of the person. This poses a difficult problem for powered rehabilitative orthoses since control strategies often require a reference trajectory and give little control to the patient. This paper describes a simple control approach which applies torque resistive to joint movement that is unnatural for healthy individuals in the hip and knee joints during the swing phase of gait. The controller uses a configuration-dependent orthonormal basis to represent vectors in terms of components which are tangent and normal to healthy gait patterns for a continuum of gait speeds. The controller damps motion in the normal direction, thereby resisting movement which is unnatural for healthy individuals. With this control law, subjects are not restricted to a particular reference trajectory and have a large degree of volition over spatiotemporal gait parameters (e.g., stride length, swing time, and cadence). Experiments are conducted to check the feasibility of the control law in a provisional powered pediatric lower-limb orthosis. The gait guidance controller is used in conjunction with a human controller representing an individual with gait impairment. The main ...Continue Reading

Citations

Sep 8, 2021·Biomedical Engineering Online·Alberto GonzalezPeter McNair

❮ Previous
Next ❯

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.

Related Papers

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Ippei KamadaFumio Miyazaki
© 2021 Meta ULC. All rights reserved