This paper presents a novel gait generation approach which combines a reactionary and a central pattern generator (CPG) system. The former couples isolated leg controllers by simple gait generation rules that ensure static stability and produce a continuum of gait patterns across the full speed range. The CPG system is based on six coupled oscillators and complements the reactionary system to f...

The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine In...

There is a growing body of evidence that nonlinear step-to-step variations are related to how the nervous system controls stable locomotion. However, we still have a limited understanding of how the neuromechanical variables of the locomotive system influence the observed nonlinear structure. Reliable models that closely resemble the nonlinear gait dynamics are required to advance our knowledge...

A study was conducted to compare the gait pattern of 12 patients with ankylosing spondylitis with axial disease only with that of 11 healthy controls using a telemeterised electrogoniometer gait analysis system. The reproducibility of the gait variables was found to be acceptable. Angles for movement at the hip and knee were less in patients with ankylosing spondylitis, but hip/knee angle ratio...

Estimation of walking behavior such as gait pattern, speed and distance of walking, is discussed in this paper. In gait rehabilitation, measurement of the temporal and spatial parameters during gait is of critical importance for monitoring functional recovery. The 3-axis accelerometer on the waist belt is used to detect acceleration of body movement. From the filtered signal, we can estimate in...

Freezing of gait (FOG) is a common symptom in Parkinsonism, which affects the gait pattern and is associated to a fall risk. Automatized FOG episode detection would allow systematic assessment of patient state and objective evaluation of the clinical effects of treatments. Techniques have been proposed in the literature to identify FOG episodes based on the frequency properties of inertial sens...

Adults with intellectual disability (ID) experience more falls than their non-disabled peers. A gait analysis was conducted to quantify normal walking, and an additional slip trial was performed to measure slip response characteristics for adults with ID as well as a group of age- and gender-matched controls. Variables relating to gait pattern, slip propensity, and slip severity were assessed t...

This paper presents a simulation procedure for generating a gait pattern and lateral motion sequence of a six legged robot. Gait pattern was studied and presented in the horizontal plane while lateral motion sequences were analyzed in the sagittal plane. Both analytical and graphical methods are used to study and to present gait and motion analysis over level terrain. Walking over level terrain...

This paper proposes a novel method of applying feedback control for legged robots, by directly modifying parameters of a robot’s gait pattern. Gaits are a popular means of producing stable locomotion for legged robots, through the use of cyclic feedforward motion patterns, while requiring little to no sensory information. We are interested in incorporating feedback with these systems, and make ...

A report which includes patient problems, descriptions of clinical and instrumental assessment and conclusion with suggestions for decision making, is a necessary tool for an adequate approach to the patient. In this paper we tried to define those steps we believe to be useful to produce a clinical report for patients with ambulation disability submitted to dynamic gait emg: Brief description o...