Abstract: This report examines the current state of human gait
simulator development based on the human hip joint model. This unit
will create a database of human gait types, useful for setting up and
calibrating Mechano devices, as well as the creation of new systems
of rehabilitation, exoskeletons and walking robots. The system has
many opportunities to configure the dimensions and stiffness, while
maintaining relative simplicity.
Abstract: Below-knee amputees commonly experience
asymmetrical gait patterns. It is generally believed that ischemia is
related to the formation of pressure sores due to uneven distribution
of forces. Micro-vascular responses can reveal local malnutrition.
Changes in local skin blood supply under various external loading
conditions have been studied for a number of years. Radionuclide
clearance, photo-plethysmography, trans-cutaneous oxygen tension
along with other studies showed that the blood supply would be
influenced by the epidermal forces, and the rate and the amount of
blood supply would decrease with increased epidermal loads being
shear forces or normal forces. Several cases of socket designs were
investigated using Finite Element Model (FEM) and Design of
Experiment (DOE) to increase flexibility and minimize the pressure
at the limb/socket interface using ultra high molecular weight
polyethylene (UHMWPE) and polyamide 6 (PA6) or Duraform. The
pressure reliefs at designated areas where reducing thickness is
involved are seen to be critical in determination of amputees’ comfort
and are very important to clinical applications. Implementing a hole
between the Patellar Tendon (PT) and Distal Tibia (DT) would
decrease stiffness and increase prosthesis range of motion where
flexibility is needed. In addition, displacement and prosthetic energy
storage increased without compromising mechanical efficiency and
prosthetic design integrity.
Abstract: Precise capture of plantar 3D surface of the foot at the
loading gait phases on rigid substrates was found to be valuable for
the assessment of the physiology, health and problems of the feet.
Photogrammetry, a precision 3D spatial data capture technique is
suitable for this type of dynamic application. In this research, the
technique is utilised to study the plantar deformation as a result of
having a strip of kinesiology tape on the plantar surface during the
loading phase of gait. For this pilot study, one healthy adult male
subject was recruited under the University’s human research ethics
guidelines for this preliminary study. The 3D plantar deformation
data with and without applying the tape were analysed. The results
and analyses are presented together with detailed findings.
Abstract: Background: The effectiveness of mirror therapy
(MT) has been investigated in acute hemiplegia. The present study
examines whether MT, given during chronic stroke, was more
effective in promoting motor recovery of the lower extremity and
walking speed than standard rehabilitation alone. Methods: The study
enrolled 30 patients with chronic stroke. Fifteen patients each were
assigned to the treatment group and the control group. All patients
received a conventional rehabilitation program for a 4-week period.
In addition to this rehabilitation program, patients in the treatment
group received mirror therapy for 4 weeks, 5 days a week. Main
measures: Passive ankle joint dorsiflexion range of motion, gait
speed, Brunnstrom stages of motor recovery, plantar flexor muscle
tone by Modified Ashworth Scale. Results: No significant difference
was found in the outcome measures among groups before treatment.
When compared with standard rehabilitation, mirror therapy
improved Ankle ROM, Brunnstrom stages and waking speed
(p < 0.05). However, there were no significant differences between
two groups on MAS (P > 0.05).Conclusion: Mirror therapy combined
with a conventional stroke rehabilitation program enhances lowerextremity
motor recovery and walking speed in chronic stroke
patients.
Abstract: Kinematic data wisely correlate vector quantities in
space to scalar parameters in time to assess the degree of symmetry
between the intact limb and the amputated limb with respect to a
normal model derived from the gait of control group participants.
Furthermore, these particular data allow a doctor to preliminarily
evaluate the usefulness of a certain rehabilitation therapy.
Kinetic curves allow the analysis of ground reaction forces (GRFs)
to assess the appropriateness of human motion.
Electromyography (EMG) allows the analysis of the fundamental
lower limb force contributions to quantify the level of gait
asymmetry. However, the use of this technological tool is expensive
and requires patient’s hospitalization. This research work suggests
overcoming the above limitations by applying artificial neural
networks.
Abstract: In this research work, neural networks were applied to
classify two types of hip joint implants based on the relative hip joint
implant side speed and three components of each ground reaction
force. The condition of walking gait at normal velocity was used and
carried out with each of the two hip joint implants assessed. Ground
reaction forces’ kinetic temporal changes were considered in the first
approach followed but discarded in the second one. Ground reaction
force components were obtained from eighteen patients under such
gait condition, half of which had a hip implant type I-II, whilst the
other half had the hip implant, defined as type III by Orthoload®.
After pre-processing raw gait kinetic data and selecting the time
frames needed for the analysis, the ground reaction force components
were used to train a MLP neural network, which learnt to distinguish
the two hip joint implants in the abovementioned condition. Further
to training, unknown hip implant side and ground reaction force
components were presented to the neural networks, which assigned
those features into the right class with a reasonably high accuracy for
the hip implant type I-II and the type III. The results suggest that
neural networks could be successfully applied in the performance
assessment of hip joint implants.
Abstract: We present a dedicated video-based monitoring
system for quantification of patient’s attention to visual feedback
during robot assisted gait rehabilitation. Two different approaches for
eye gaze and head pose tracking are tested and compared. Several
metrics for assessment of patient’s attention are also presented.
Experimental results with healthy volunteers demonstrate that
unobtrusive video-based gaze tracking during the robot-assisted gait
rehabilitation is possible and is sufficiently robust for quantification
of patient’s attention and assessment of compliance with the
rehabilitation therapy.
Abstract: The centre of rotation of the hip joint is needed for an
accurate simulation of the joint performance in many applications
such as pre-operative planning simulation, human gait analysis, and
hip joint disorders. In human movement analysis, the hip joint center
can be estimated using a functional method based on the relative
motion of the femur to pelvis measured using reflective markers
attached to the skin surface. The principal source of errors in
estimation of hip joint centre location using functional methods is
soft tissue artefacts due to the relative motion between the markers
and bone. One of the main objectives in human movement analysis is
the assessment of soft tissue artefact as the accuracy of functional
methods depends upon it. Various studies have described the
movement of soft tissue artefact invasively, such as intra-cortical
pins, external fixators, percutaneous skeletal trackers, and Roentgen
photogrammetry. The goal of this study is to present a non-invasive
method to assess the displacements of the markers relative to the
underlying bone using optical motion capture data and tissue
thickness from ultrasound measurements during flexion, extension,
and abduction (all with knee extended) of the hip joint. Results show
that the artefact skin marker displacements are non-linear and larger
in areas closer to the hip joint. Also marker displacements are
dependent on the movement type and relatively larger in abduction
movement. The quantification of soft tissue artefacts can be used as a
basis for a correction procedure for hip joint kinematics.
Abstract: In this study tree types of multilayer gas barrier plastic packaging films were compared using life cycle assessment as a tool for resource efficient and environmentally low-impact materials selection. The first type of multilayer packaging film (PET-AlOx/LDPE) consists of polyethylene terephthalate with barrier layer AlOx (PET-AlOx) and low density polyethylene (LDPE). The second type of polymer film (PET/PE-EVOH-PE) is made of polyethylene terephthalate (PET) and co-extrusion film PE-EVOH-PE as barrier layer. And the third one type of multilayer packaging film (PET-PVOH/LDPE) is formed from polyethylene terephthalate with barrier layer PVOH (PET-PVOH) and low density polyethylene (LDPE).
All of analyzed packaging has significant impact to resource depletion, because of raw materials extraction and energy use and production of different kind of plastics. Nevertheless the impact generated during life cycle of functional unit of II type of packaging (PET/PE-EVOH-PE) was about 25% lower than impact generated by I type (PET-AlOx/LDPE) and III type (PET-PVOH/LDPE) of packaging.
Result revealed that the contribution of different gas barrier type to the overall environmental problem of packaging is not significant. The impact are mostly generated by using energy and materials during raw material extraction and production of different plastic materials as plastic polymers material as PE, LDPE and PET, but not gas barrier materials as AlOx, PVOH and EVOH.
The LCA results could be useful in different decision-making processes, for selecting resource efficient and environmentally low-impact materials.
Abstract: Gait disturbance, particularly freezing of gait (FOG), is a phenomenon that is common in Parkinson’s patients and significantly contributes to a loss of function and independence. Walking performance and number of freezing episodes have been known to respond favorably to sensory cues of different modalities. However, a topic that has so far barely been touched is how to resolve freezing episodes via sensory cues once they have appeared. In this study, we analyze the effect of five different sensory cues on the duration of freezing episodes: (1) vibratory alert, (2) auditory alert, (3) vibratory rhythm, (4) auditory rhythm, (5) visual cue in form of parallel lines projected to the floor. The motivation for this study is to investigate the possibility of the design of a gait assistive device for Parkinson’s patients. Test subjects were 7 Parkinson’s patients regularly suffering from FOG. The patients had to repeatedly walk a pre-defined course and cues were triggered always 2 s after freezing onset. The effect was analyzed via experimental measurements and patient interviews. The measurements showed that all 5 sensory cues led to a decrease of the average duration of freezing: baseline (7.9s), vibratory alert (7.1s), auditory alert (6.7s), auditory rhythm (6.4s), vibratory rhythm (6.3s), and visual cue (5.3s). Nevertheless, interestingly, patients subjectively evaluated the audio alert and vibratory signals to have a significantly better effect for reducing their freezing duration than the visual cue.
Abstract: The purpose of the research is to investigate the energetic feature of the backpack load on soldier’s gait with variation of the trunk flexion angle. It is believed that the trunk flexion variation of the loaded gait may cause a significant difference in the energy cost which is often in practice in daily life. To this end, seven healthy Korea military personnel participated in the experiment and are tested under three different walking postures comprised of the small, natural and large trunk flexion. There are around 5 degree differences of waist angle between each trunk flexion. The ground reaction forces were collected from the force plates and motion kinematic data are measured by the motion capture system. Based on these data, the impulses, momentums and mechanical works done on the center of body mass (COM) during the double support phase were computed. The result shows that the push-off and heel strike impulse are not relevant to the trunk flexion change, however the mechanical work by the push-off and heel strike were changed by the trunk flexion variation. It is because the vertical velocity of the COM during the double support phase is increased significantly with an increase in the trunk flexion. Therefore, we can know that the gait efficiency of the loaded gait depends on the trunk flexion angle. Also, even though the gravitational impulse and pre-collision momentum are changed by the trunk flexion variation, the after-collision momentum is almost constant regardless of the trunk flexion variation.
Abstract: In modern day disaster recovery mission has become
one of the top priorities in any natural disaster management regime.
Smart autonomous robots may play a significant role in such
missions, including search for life under earth quake hit rubbles,
Tsunami hit islands, de-mining in war affected areas and many other
such situations. In this paper current state of many walking robots are
compared and advantages of hexapod systems against wheeled robots
are described. In our research we have selected a hexapod spider
robot; we are developing focusing mainly on efficient navigation
method in different terrain using apposite gait of locomotion, which
will make it faster and at the same time energy efficient to navigate
and negotiate difficult terrain. This paper describes the method of
terrain negotiation navigation in a hazardous field.
Abstract: The method of gait identification based on the nearest neighbor classification technique with motion similarity assessment by the dynamic time warping is proposed. The model based kinematic motion data, represented by the joints rotations coded by Euler angles and unit quaternions is used. The different pose distance functions in Euler angles and quaternion spaces are considered. To evaluate individual features of the subsequent joints movements during gait cycle, joint selection is carried out. To examine proposed approach database containing 353 gaits of 25 humans collected in motion capture laboratory is used. The obtained results are promising. The classifications, which takes into consideration all joints has accuracy over 91%. Only analysis of movements of hip joints allows to correctly identify gaits with almost 80% precision.
Abstract: In this paper a simple terrain evaluation method for
hexapod robot is introduced. This method is based on feet coordinate
evaluation when all are on the ground. Depending on the feet
coordinate differences the local terrain evaluation is possible. Terrain
evaluation is necessary for right gait selection and/or body position
correction. For terrain roughness evaluation three planes are plotted:
two of them as definition points use opposite feet coordinates, third
coincides with the robot body plane. The leaning angle of body plane
is evaluated measuring gravity force using three-axis accelerometer.
Terrain roughness evaluation method is based on angle estimation
between normal vectors of these planes. Aim of this work is to
present a simple method for embedded robot controller, allowing to
find the best further movement settings.
Abstract: This paper summaries basic principles and concepts of
intelligent controls, implemented in humanoid robotics as well as
recent algorithms being devised for advanced control of humanoid
robots. Secondly, this paper presents a new approach neuro-fuzzy
system. We have included some simulating results from our
computational intelligence technique that will be applied to our
humanoid robot. Subsequently, we determine a relationship between
joint trajectories and located forces on robot-s foot through a
proposed neuro-fuzzy technique.
Abstract: The effect of muscle loss due to transfemoral
amputation, on energy expenditure of hip joint and individual
residual muscles was simulated. During swing phase of gait, with
each muscle as an ideal force generator, the lower extremity was
modeled as a two-degree of freedom linkage, for which hip and knee
were joints. According to results, muscle loss will not lead to higher
energy expenditure of hip joint, as long as other parameters of limb
remain unaffected. This finding maybe due to the role of biarticular
muscles in hip and knee joints motion. Moreover, if hip flexors are
removed from the residual limb, residual flexors, and if hip extensors
are removed, residual extensors will do more work. In line with the
common practice in transfemoral amputation, this result demonstrates
during transfemoral amputation, it is important to maintain the length
of residual limb as much as possible.
Abstract: In the paper, the energetic features of the loaded gait
are newly analyzed depending on the trunk flexion change. To
investigate the loaded gait, walking experiments are performed for five
subjects and, the ground reaction forces and kinematic data are
measured. Based on these information, we compute the impulse,
momentum and mechanical works done on the center of body mass,
through the trunk flexion change. As a result, it is shown that the trunk
flexion change does not affect the impulses and momentums during
the step-to-step transition as well. However, the direction of the
pre-collision momentum does change depending on the trunk flexion
change, which is degenerated just after (or during) the collision period.
Abstract: In this paper after reviewing some previous studies, in
order to optimize the above knee prosthesis, beside the inertial
properties a new controlling parameter is informed. This controlling
parameter makes the prosthesis able to act as a multi behavior system
when the amputee is opposing to different environments. This active
prosthesis with the new controlling parameter can simplify the
control of prosthesis and reduce the rate of energy consumption in
comparison to recently presented similar prosthesis “Agonistantagonist
active knee prosthesis".
In this paper three models are generated, a passive, an active, and
an optimized active prosthesis. Second order Taylor series is the
numerical method in solution of the models equations and the
optimization procedure is genetic algorithm.
Modeling the prosthesis which comprises this new controlling
parameter (SEP) during the swing phase represents acceptable results
in comparison to natural behavior of shank. Reported results in this
paper represent 3.3 degrees as the maximum deviation of models
shank angle from the natural pattern. The natural gait pattern belongs
to walking at the speed of 81 m/min.
Abstract: In this paper we propose a novel approach for ascertaining human identity based on fusion of profile face and gait biometric cues The identification approach based on feature learning in PCA-LDA subspace, and classification using multivariate Bayesian classifiers allows significant improvement in recognition accuracy for low resolution surveillance video scenarios. The experimental evaluation of the proposed identification scheme on a publicly available database [2] showed that the fusion of face and gait cues in joint PCA-LDA space turns out to be a powerful method for capturing the inherent multimodality in walking gait patterns, and at the same time discriminating the person identity..
Abstract: Young patients suffering from Cerebral Palsy are
facing difficult choices concerning heavy surgeries. Diagnosis settled
by surgeons can be complex and on the other hand decision for
patient about getting or not such a surgery involves important
reflection effort. Proposed software combining prediction for
surgeries and post surgery kinematic values, and from 3D model
representing the patient is an innovative tool helpful for both patients
and medicine professionals. Beginning with analysis and
classification of kinematics values from Data Base extracted from
gait analysis in 3 separated clusters, it is possible to determine close
similarity between patients. Prediction surgery best adapted to
improve a patient gait is then determined by operating a suitable
preconditioned neural network. Finally, patient 3D modeling based
on kinematic values analysis, is animated thanks to post surgery
kinematic vectors characterizing the closest patient selected from
patients clustering.