TY - GEN
T1 - Toward goal-oriented robotic gait training
T2 - 2017 International Conference on Rehabilitation Robotics, ICORR 2017
AU - McGrath, Robert L.
AU - Pires-Fernandes, Margaret
AU - Knarr, Brian
AU - Higginson, Jill S.
AU - Sergi, Fabrizio
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/11
Y1 - 2017/8/11
N2 - Robot-assisted gait training is becoming increasingly common to support recovery of walking function after neurological injury. How to formulate controllers capable of promoting desired features in gait, i.e. goals, is complicated by the limited understanding of the human response to robotic input. A possible method to formulate controllers for goal-oriented gait training is based on the analysis of the joint torques applied by healthy subjects to modulate such goals. The objective of this work is to understand how sagittal plane joint torque is affected by two important gait parameters: gait speed (GS) and stride length (SL). We here present the results obtained from healthy subjects walking on a treadmill at different speeds, and asked to modulate stride length via visual feedback. Via principal component analysis, we extracted the global effects of the two factors on the peak-to-peak amplitude of joint torques. Next, we used a torque pulse approximation analysis to determine optimal timing and amplitude of torque pulses that approximate the SL-specific difference in joint torque profiles measured at different values of GS. Our results show a strong effect of GS on the torque profiles in all joints considered. In contrast, SL mostly affects the torque produced at the knee joint at early and late stance, with smaller effects on the hip and ankle joints. Our analysis generated a set of torque assistance profiles that will be experimentally tested using gait training robots.
AB - Robot-assisted gait training is becoming increasingly common to support recovery of walking function after neurological injury. How to formulate controllers capable of promoting desired features in gait, i.e. goals, is complicated by the limited understanding of the human response to robotic input. A possible method to formulate controllers for goal-oriented gait training is based on the analysis of the joint torques applied by healthy subjects to modulate such goals. The objective of this work is to understand how sagittal plane joint torque is affected by two important gait parameters: gait speed (GS) and stride length (SL). We here present the results obtained from healthy subjects walking on a treadmill at different speeds, and asked to modulate stride length via visual feedback. Via principal component analysis, we extracted the global effects of the two factors on the peak-to-peak amplitude of joint torques. Next, we used a torque pulse approximation analysis to determine optimal timing and amplitude of torque pulses that approximate the SL-specific difference in joint torque profiles measured at different values of GS. Our results show a strong effect of GS on the torque profiles in all joints considered. In contrast, SL mostly affects the torque produced at the knee joint at early and late stance, with smaller effects on the hip and ankle joints. Our analysis generated a set of torque assistance profiles that will be experimentally tested using gait training robots.
UR - http://www.scopus.com/inward/record.url?scp=85034820929&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85034820929&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2017.8009258
DO - 10.1109/ICORR.2017.8009258
M3 - Conference contribution
C2 - 28813830
AN - SCOPUS:85034820929
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 270
EP - 275
BT - 2017 International Conference on Rehabilitation Robotics, ICORR 2017
A2 - Ajoudani, Arash
A2 - Artemiadis, Panagiotis
A2 - Beckerle, Philipp
A2 - Grioli, Giorgio
A2 - Lambercy, Olivier
A2 - Mombaur, Katja
A2 - Novak, Domen
A2 - Rauter, Georg
A2 - Rodriguez Guerrero, Carlos
A2 - Salvietti, Gionata
A2 - Amirabdollahian, Farshid
A2 - Balasubramanian, Sivakumar
A2 - Castellini, Claudio
A2 - Di Pino, Giovanni
A2 - Guo, Zhao
A2 - Hughes, Charmayne
A2 - Iida, Fumiya
A2 - Lenzi, Tommaso
A2 - Ruffaldi, Emanuele
A2 - Sergi, Fabrizio
A2 - Soh, Gim Song
A2 - Caimmi, Marco
A2 - Cappello, Leonardo
A2 - Carloni, Raffaella
A2 - Carlson, Tom
A2 - Casadio, Maura
A2 - Coscia, Martina
A2 - De Santis, Dalia
A2 - Forner-Cordero, Arturo
A2 - Howard, Matthew
A2 - Piovesan, Davide
A2 - Siqueira, Adriano
A2 - Sup, Frank
A2 - Lorenzo, Masia
A2 - Catalano, Manuel Giuseppe
A2 - Lee, Hyunglae
A2 - Menon, Carlo
A2 - Raspopovic, Stanisa
A2 - Rastgaar, Mo
A2 - Ronsse, Renaud
A2 - van Asseldonk, Edwin
A2 - Vanderborght, Bram
A2 - Venkadesan, Madhusudhan
A2 - Bianchi, Matteo
A2 - Braun, David
A2 - Godfrey, Sasha Blue
A2 - Mastrogiovanni, Fulvio
A2 - McDaid, Andrew
A2 - Rossi, Stefano
A2 - Zenzeri, Jacopo
A2 - Formica, Domenico
A2 - Karavas, Nikolaos
A2 - Marchal-Crespo, Laura
A2 - Reed, Kyle B.
A2 - Tagliamonte, Nevio Luigi
A2 - Burdet, Etienne
A2 - Basteris, Angelo
A2 - Campolo, Domenico
A2 - Deshpande, Ashish
A2 - Dubey, Venketesh
A2 - Hussain, Asif
A2 - Sanguineti, Vittorio
A2 - Unal, Ramazan
A2 - Caurin, Glauco Augusto de Paula
A2 - Koike, Yasuharu
A2 - Mazzoleni, Stefano
A2 - Park, Hyung-Soon
A2 - Remy, C. David
A2 - Saint-Bauzel, Ludovic
A2 - Tsagarakis, Nikos
A2 - Veneman, Jan
A2 - Zhang, Wenlong
PB - IEEE Computer Society
Y2 - 17 July 2017 through 20 July 2017
ER -