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This work presents a wearable device and the algorithms for quantitative modelling of joint spasticity and its application in a pilot group of subjects with different levels of spinal cord injury. The device comprises light-weight instrumented handles to measure the interaction force between the subject and the physical therapist performing the tests, EMG sensors and inertial measurement units to...
Stroke patients have reduced kinematic characteristics in gait speed, cadence, step kinematics, and range of motion (ROM). Especially, a drop foot is a common symptom during gait after stroke due to the weakness of ankle dorsiflexor. A few robotic ankle systems have been developed to measure and train pathological ankle movements. However, the previously developed systems use orthogonal ankle axis...
The kinematic and dynamic properties of the ankle joint (talocrural region) in normal subjects provide important information for the design of rehabilitation robots, below-knee prostheses, ankle-foot orthoses, and exoskeletons. This paper presents a quantitative analysis of published experimental data, simulation studies of human gait, and a dynamic model of ankle joint intrinsic and reflex stiffness...
Biomechanical investigation of human movement contributing to rehabilitation treatment has gained an increasing interest from researchers on regards to human impairments and assistive techniques. There are many methods of treatment previously investigated namely with the focus being towards the nervous system. Due to the advancement of technology over time, motion capture became possible where it...
Presented is the design, implementation, and initial gait testing of a lightweight, compliant robotic device for ankle rehabilitation. Many patients with neuromuscular disorders suffer deficits in sensorimotor control of the ankle joint, leading to an abnormal walking pattern. Robotic devices have been used to assist ankle rehabilitation. However, these devices are usually heavy and rigid, which can...
PKankle is a robotic device based on a fully-parallel kinematic architecture and specifically designed for the neuro-rehabilitation of the ankle-foot complex. The peculiar kinematics allows the foot support to rotate, with good approximation, about the instantaneous center of rotation of the foot. An adjusting mechanical system allows the device to be employed in different patient positionings. Moreover,...
In control subjects, trips during the early and late swing phase of walking elicit elevating and lowering strategies, respectively. However, the transition between these recovery strategies during mid-swing is unclear. A better understanding of this transition would provide insight into what factors cause individuals to choose one strategy over another. Three control subjects walked on a treadmill...
The purpose of this study was to investigate the joint moments and power of push-off and landing leg during baseball pitching in collegiate baseball pitchers. Eight healthy male collegiate baseball pitchers participated in this study, and each subject was asked to throw fastballs. The joint forces and joint moments of the lower limbs were computed with inverse dynamic method. The joint moments and...
The aim of this paper was to present the optimum parameters of an ankle foot orthosis (AFO) using dashpot-spring modeling. Using kinematic and force data joints moment were determined through the calculations of inverse dynamics. In the proposed dynamic model selected muscles of shank and foot were replaced by spring-damper The generated torque in ankle could be modifided by changing the spring constant...
A control model is presented which is based on exhaustive biomechanical and EMG analyses of human gait. The motor patterns (moments-of-force, mechanical power and EMG), when compared over a wide range of cadences and subjects, gives the author considerable insight into strategies used by the central nervous system. The net result of these analyses is the identification of three fairly independent...
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