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We introduce a simple approach to segment in homogeneous phases a long-duration record of locomotion data consisting of body segment acceleration and foot pressure information only. The association of acceleration norms with impact detections allows us to successfully apply K-means algorithm in order to automatically classify the locomotion in terms of walking and various running speeds. The method...
Human foot is a complex musculoskeletal system. As it is impossible to directly measure the force of muscle attaching with limbs, a new quantitative method for dynamics analysis of human ankle muscle forces is presented by using the AnyBody Modeling System and a developed wearable motion and ground reaction force (GRF) sensor system. The sensor system can be used to continuously measure human motion...
This paper presents the design of an admittance-based assistive controller and preliminary experimental results for a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design a suitable control algorithm for diagnosis, training and rehabilitation of the ankle in presence of musculoskeletal injuries. An admittance control technique is used to perform patient-active...
Dynamic joint stiffness defines the dynamic relationship between the position of the joint and the torque acting about it. Joint stiffness consists of two components: intrinsic and reflex stiffness. Previous work from our lab has shown that subjects can alter their reflex stiffness voluntarily and independently of intrinsic stiffness. Numerous studies have investigated whether reflex stiffness is...
Driven Gait Orthosis (DGO) are commonly used in gait rehabilitation. These devices commonly lack an actuator at the ankle. As a result the ankle trajectories often differ considerably from those seen normally. The question arises whether these abnormal trajectories affect the phase-dependent modulation of cutaneous reflexes from the foot. To investigate this, the sural nerve was stimulated electrically...
The authors introduce a fuzzy rule-based algorithm to evaluate the activation patterns of muscles of the lower limb with respect to the gait phases during normal human walking. A relational matrix was established as a Cartesian product between the activation behaviors of muscles of the lower limb within the seven gait phases during normal walking. This relational matrix is an expression of the strength...
This paper proposes a multi-sensor data fusion technique to determine the complex interactions between the sensory, muscular and mechanical components of the human locomotor systems (neuromechanics). We investigated the use of an array of accelerometers, rate gyroscopes, force plates and electromyogram for the assessment of x-y-z components of the hip, thigh, shank and foot acceleration and velocity...
In this paper, we introduce a passive wearable walking support system based on brake control referred to as ldquopassive wearable walking helperrdquo. According to the analysis of the walking of the human being, the knee joint has to support his/her weight during the walking, and the joint moment applied around the knee joint is large for supporting the weight. Consequently, in this paper, we pay...
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