AIMC Topic: Walking
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Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeleton.
Journal of neuroengineering and rehabilitation
Nov 4, 2015
BACKGROUND: Robotic ankle exoskeletons can provide assistance to users and reduce metabolic power during walking. Our research group has investigated the use of proportional myoelectric control for controlling robotic ankle exoskeletons. Previously, ...
Physical constraints, fundamental limits, and optimal locus of operating points for an inverted pendulum based actuated dynamic walker.
Bioinspiration & biomimetics
Oct 26, 2015
The inverted pendulum is a popular model for describing bipedal dynamic walking. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v0) and step angle (φm) chosen for a given walk. In this paper, usi...
Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?
PloS one
Oct 20, 2015
In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of ...
Estimation of ground reaction forces and ankle moment with multiple, low-cost sensors.
Journal of neuroengineering and rehabilitation
Oct 14, 2015
BACKGROUND: Wearable sensor systems can provide data for at-home gait analyses and input to controllers for rehabilitation devices but they often have reduced estimation accuracy compared to laboratory systems. The goal of this study is to evaluate a...
Using Wearable Sensors and Machine Learning Models to Separate Functional Upper Extremity Use From Walking-Associated Arm Movements.
Archives of physical medicine and rehabilitation
Oct 3, 2015
OBJECTIVE: To improve measurement of upper extremity (UE) use in the community by evaluating the feasibility of using body-worn sensor data and machine learning models to distinguish productive prehensile and bimanual UE activity use from extraneous ...
Effects of robotic gait rehabilitation on biomechanical parameters in the chronic hemiplegic patients.
Neurophysiologie clinique = Clinical neurophysiology
Sep 14, 2015
Hemiplegia is a more or less complete loss of hemibody voluntary motricity following a brain injury, usually resulting in alterations of the locomotor system with persistent disorders of movement and posture. We were interested in studying the gait p...
Machine learning classification of medication adherence in patients with movement disorders using non-wearable sensors.
Computers in biology and medicine
Sep 8, 2015
Medication non-adherence is a major concern in the healthcare industry and has led to increases in health risks and medical costs. For many neurological diseases, adherence to medication regimens can be assessed by observing movement patterns. Howeve...
Effects of a wearable exoskeleton stride management assist system (SMA®) on spatiotemporal gait characteristics in individuals after stroke: a randomized controlled trial.
Journal of neuroengineering and rehabilitation
Aug 20, 2015
BACKGROUND: Robots offer an alternative, potentially advantageous method of providing repetitive, high-dosage, and high-intensity training to address the gait impairments caused by stroke. In this study, we compared the effects of the Stride Manageme...
"Body-In-The-Loop": Optimizing Device Parameters Using Measures of Instantaneous Energetic Cost.
PloS one
Aug 19, 2015
This paper demonstrates methods for the online optimization of assistive robotic devices such as powered prostheses, orthoses and exoskeletons. Our algorithms estimate the value of a physiological objective in real-time (with a body "in-the-loop") an...
A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider's locomotion.
Bioinspiration & biomimetics
Aug 4, 2015
The highly agile and efficient water-surface locomotion of the water strider has stimulated substantial interest in biomimetic research. In this paper, we propose a new miniature surface tension-driven robot inspired by the water strider. A key featu...
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