Document Detail

Dynamic motion planning for the design of robotic gait rehabilitation.
MedLine Citation:
PMID:  16121538     Owner:  NLM     Status:  MEDLINE    
In this paper we examine a method to control the stepping motion of a paralyzed person suspended over a treadmill using a robot attached to the pelvis. A leg swing motion is created by moving the pelvis without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem is converted into a discrete parameter optimization and an efficient gradient-based algorithm is used to solve it. Motion capture data from an unimpaired human subject is compared to the simulation results from the dynamic motion optimization. Our results suggest that it is feasible to drive repetitive stepping on a treadmill by a paralyzed person by assisting in torso movement alone. The optimized, pelvic motion strategies are comparable to "hip-hiking" gait strategies used by people with lower limb prostheses or hemiparesis. The resulting motions can be found at the web site
Chia-Yu E Wang; James E Bobrow; David J Reinkensmeyer
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Publication Detail:
Type:  Evaluation Studies; Journal Article; Research Support, N.I.H., Extramural; Research Support, U.S. Gov't, P.H.S.    
Journal Detail:
Title:  Journal of biomechanical engineering     Volume:  127     ISSN:  0148-0731     ISO Abbreviation:  J Biomech Eng     Publication Date:  2005 Aug 
Date Detail:
Created Date:  2005-08-26     Completed Date:  2005-10-05     Revised Date:  2007-11-14    
Medline Journal Info:
Nlm Unique ID:  7909584     Medline TA:  J Biomech Eng     Country:  United States    
Other Details:
Languages:  eng     Pagination:  672-9     Citation Subset:  IM    
Department of Mechanical and Aerospace Engineering, University of California, Irvine, California 92697, USA.
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MeSH Terms
Computer Simulation
Feasibility Studies
Gait Disorders, Neurologic / physiopathology*,  rehabilitation*
Lower Extremity / physiopathology*
Models, Biological*
Musculoskeletal Manipulations / methods
Physical Therapy Modalities*
Robotics / methods*
Therapy, Computer-Assisted / methods*
Grant Support

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine

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