Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209530
J. K. Burgess, Gwendolyn C Weibel, D. Brown
We studied the effect of body weight support on self-selected overground walking speed in both healthy elderly subjects and subjects post-stroke using the KineAssist, a novel robotic gait and balance device. Body weight support is provided by the robot via a closed-loop system that provides support about the subject's estimated center of mass. Body weight support was tested at 10%, 20%, 30% and 40% of the subject's weight. We found that self-selected walking speed decreased with greater levels of body weight support for the healthy elderly subjects. However, the subjects post stroke showed an average increase of 18% in self-selected walking speed at some level of body weight support compared with no body weight support while walking in the KineAssist. Gait speed increases corresponded to an increase in step length. There appears to be a benefit to overground walking speed when providing a small percentage of body weight support for people post-stroke.
{"title":"Increases in overground gait speed with body weight support in people post-stroke","authors":"J. K. Burgess, Gwendolyn C Weibel, D. Brown","doi":"10.1109/ICORR.2009.5209530","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209530","url":null,"abstract":"We studied the effect of body weight support on self-selected overground walking speed in both healthy elderly subjects and subjects post-stroke using the KineAssist, a novel robotic gait and balance device. Body weight support is provided by the robot via a closed-loop system that provides support about the subject's estimated center of mass. Body weight support was tested at 10%, 20%, 30% and 40% of the subject's weight. We found that self-selected walking speed decreased with greater levels of body weight support for the healthy elderly subjects. However, the subjects post stroke showed an average increase of 18% in self-selected walking speed at some level of body weight support compared with no body weight support while walking in the KineAssist. Gait speed increases corresponded to an increase in step length. There appears to be a benefit to overground walking speed when providing a small percentage of body weight support for people post-stroke.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115648137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209616
Dana D. Damian, Alejandro Hernández-Arieta, M. Lungarella, R. Pfeifer
In rehabilitation robotics, a strong coupling between human and robot entails high requirements for achieving mutual adaptation. The latter underlies the acceptance of the robotic device as an extension of the human body and promotes an efficient collaboration. We present automated metrics for quantifying models of human-robot interaction and the mutual adaptation based on the pattern of informational flow between the two participants in the interaction. These methods allow the robotic device to gain the ability to score the mutual adaptation and to implement strategies for increasing it, fostering the human-centered robot autonomy in rehabilitation robotics.
{"title":"An automated metrics set for mutual adaptation between human and robotic device","authors":"Dana D. Damian, Alejandro Hernández-Arieta, M. Lungarella, R. Pfeifer","doi":"10.1109/ICORR.2009.5209616","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209616","url":null,"abstract":"In rehabilitation robotics, a strong coupling between human and robot entails high requirements for achieving mutual adaptation. The latter underlies the acceptance of the robotic device as an extension of the human body and promotes an efficient collaboration. We present automated metrics for quantifying models of human-robot interaction and the mutual adaptation based on the pattern of informational flow between the two participants in the interaction. These methods allow the robotic device to gain the ability to score the mutual adaptation and to implement strategies for increasing it, fostering the human-centered robot autonomy in rehabilitation robotics.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126637371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209473
Jungwon Yoon, J. Ryu, Jangwoo Park, B. Novandy
This paper explains fundamental problems of single-track treadmill walking and analyze an alternative separate dual-track treadmill for better walking stability, using a foot-platform locomotion interface. The traditional single-track treadmill can cause high inertia force to users and possible sickness by excessive centre of body movements because it has the problem of the asymmetric walking velocity profile of the swing and stance feet. The treadmill can generate only a constant velocity for the stance foot during the gait cycle, even though the swing foot velocity is not constant during the swing phase. On the other hand, separate dual-track treadmill walking can cancel the stance foot motion by using the opposite swing foot motion as a control input and making two foot motions symmetric. Walking simulations and user evaluations with a foot-platform locomotion interface showed that the symmetric walking with a separate dual-track treadmill may be better than the traditional walking in terms of smoothness, absence of inertia force, and walking stability.
{"title":"Walking analysis of a dual-track treadmill using a foot-platform locomotion interface","authors":"Jungwon Yoon, J. Ryu, Jangwoo Park, B. Novandy","doi":"10.1109/ICORR.2009.5209473","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209473","url":null,"abstract":"This paper explains fundamental problems of single-track treadmill walking and analyze an alternative separate dual-track treadmill for better walking stability, using a foot-platform locomotion interface. The traditional single-track treadmill can cause high inertia force to users and possible sickness by excessive centre of body movements because it has the problem of the asymmetric walking velocity profile of the swing and stance feet. The treadmill can generate only a constant velocity for the stance foot during the gait cycle, even though the swing foot velocity is not constant during the swing phase. On the other hand, separate dual-track treadmill walking can cancel the stance foot motion by using the opposite swing foot motion as a control input and making two foot motions symmetric. Walking simulations and user evaluations with a foot-platform locomotion interface showed that the symmetric walking with a separate dual-track treadmill may be better than the traditional walking in terms of smoothness, absence of inertia force, and walking stability.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114567498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209514
E. V. van Asseldonk, Bram Koopman, J. Buurke, C. D. Simons, H. van der Kooij
Interactive control schemes are rapidly gaining popularity in the control of robotic gait trainers. Interactive control allows for the modification of the support level based on the patient's performance. However, only few algorithms exist that adapt the support to the patient's needs. The aim of this study was to assess the feasibility of an adaptive and selective method to support a specific subtask of walking. In this study we focused on providing assistance during foot clearance and analyzed the effects in four chronic stroke survivors whose gait is characterized as stiff knee gait. We recently introduced a method to selectively support the foot clearance by defining a virtual spring between the desired and the actual ankle height. Here, this method was extended with an algorithm that automatically adapts the stiffness of the virtual spring, and consequently, adapts the amount of support to the experienced movement error in the previous steps. The results showed that the stiffness profile converged to a subject specific pattern that varied over the gait cycle and was according to the subject's requirements. The proposed algorithm was used in a training study that specifically aimed at increasing the foot clearance. Preliminary results demonstrated that the training resulted in improved foot clearance, which was accompanied by an increased walking speed. This proposed algorithm reduces the need for the therapist/operator to set the amount of support on a trial and error basis and decreases the chances of reliance on the robotic support.
{"title":"Selective and adaptive robotic support of foot clearance for training stroke survivors with stiff knee gait","authors":"E. V. van Asseldonk, Bram Koopman, J. Buurke, C. D. Simons, H. van der Kooij","doi":"10.1109/ICORR.2009.5209514","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209514","url":null,"abstract":"Interactive control schemes are rapidly gaining popularity in the control of robotic gait trainers. Interactive control allows for the modification of the support level based on the patient's performance. However, only few algorithms exist that adapt the support to the patient's needs. The aim of this study was to assess the feasibility of an adaptive and selective method to support a specific subtask of walking. In this study we focused on providing assistance during foot clearance and analyzed the effects in four chronic stroke survivors whose gait is characterized as stiff knee gait. We recently introduced a method to selectively support the foot clearance by defining a virtual spring between the desired and the actual ankle height. Here, this method was extended with an algorithm that automatically adapts the stiffness of the virtual spring, and consequently, adapts the amount of support to the experienced movement error in the previous steps. The results showed that the stiffness profile converged to a subject specific pattern that varied over the gait cycle and was according to the subject's requirements. The proposed algorithm was used in a training study that specifically aimed at increasing the foot clearance. Preliminary results demonstrated that the training resulted in improved foot clearance, which was accompanied by an increased walking speed. This proposed algorithm reduces the need for the therapist/operator to set the amount of support on a trial and error basis and decreases the chances of reliance on the robotic support.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128624399","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209619
A. Duschau-Wicke, S. Felsenstein, R. Riener
Current clinical practice of robot-aided gait training is not as effective as expected. Cooperative control strategies aim at improving the effectiveness of robot-aided training by empowering patients to participate more actively. Our group has recently proposed the concept of bio-cooperative control, which explicitely considers the role of the human in the loop, as an extension of these strategies. A supervising controller adapts the cooperative control loops in a way that guarantees appropriate stimuli and prevents undue stress or harm for the patients. In this paper, we implement this concept with an adaptive body weight support algorithm. The algorithm was evaluated with the Lokomat gait rehabilitation robot and the Lokolift body weight support system. Experiments showed that human activity was successfully controlled during Lokomat walking. The desired level of activity was effectively limited when subjects simulated weakness in load bearing. The proposed algorithm may help to train patients with neurological gait impairments in a more engaging and, thus, hopefully more effective way.
{"title":"Adaptive body weight support controls human activity during robot-aided gait training","authors":"A. Duschau-Wicke, S. Felsenstein, R. Riener","doi":"10.1109/ICORR.2009.5209619","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209619","url":null,"abstract":"Current clinical practice of robot-aided gait training is not as effective as expected. Cooperative control strategies aim at improving the effectiveness of robot-aided training by empowering patients to participate more actively. Our group has recently proposed the concept of bio-cooperative control, which explicitely considers the role of the human in the loop, as an extension of these strategies. A supervising controller adapts the cooperative control loops in a way that guarantees appropriate stimuli and prevents undue stress or harm for the patients. In this paper, we implement this concept with an adaptive body weight support algorithm. The algorithm was evaluated with the Lokomat gait rehabilitation robot and the Lokolift body weight support system. Experiments showed that human activity was successfully controlled during Lokomat walking. The desired level of activity was effectively limited when subjects simulated weakness in load bearing. The proposed algorithm may help to train patients with neurological gait impairments in a more engaging and, thus, hopefully more effective way.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130353878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209615
R. Riener, A. Koenig, Marc Bolliger, Monika Wieser, A. Duschau-Wicke, H. Vallery
In classical man-machine interfaces, biomechanics of the human form a part of the underlying control loop. However, integrating the human into the loop can be considered not only from a biomechanical view but also with regard to psycho-physiological aspects. Biomechanical integration involves ensuring that the system to be used is ergonomically acceptable and “user-cooperative”. Psycho-physiological integration involves recording and controlling the patient's physiological reactions so that the patient receives appropriate stimuli and is challenged in a moderate but engaging way without causing undue stress or harm. In this paper, we present examples of biomechanical and psycho-physiological integration of patients verified with the gait robot Lokomat and the dynamic tilt and stepping device Erigo.
{"title":"Bio-cooperative robotics: Controlling mechanical, physiological and mental patient states","authors":"R. Riener, A. Koenig, Marc Bolliger, Monika Wieser, A. Duschau-Wicke, H. Vallery","doi":"10.1109/ICORR.2009.5209615","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209615","url":null,"abstract":"In classical man-machine interfaces, biomechanics of the human form a part of the underlying control loop. However, integrating the human into the loop can be considered not only from a biomechanical view but also with regard to psycho-physiological aspects. Biomechanical integration involves ensuring that the system to be used is ergonomically acceptable and “user-cooperative”. Psycho-physiological integration involves recording and controlling the patient's physiological reactions so that the patient receives appropriate stimuli and is challenged in a moderate but engaging way without causing undue stress or harm. In this paper, we present examples of biomechanical and psycho-physiological integration of patients verified with the gait robot Lokomat and the dynamic tilt and stepping device Erigo.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121157089","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209584
R. Ueha, Hang T. T. Pham, Hiroaki Hirai, F. Miyazaki
This paper discusses skillful role divisions of coordinated motion between two subjects in a crank-rotation task. The roles for coordination, called “specialization”, emerge from only haptic interaction between the subjects, through which each subject comes to play a specialized role without conscious understanding. The purpose of this paper is, therefore, to deepen the understanding of “specialization”, which may be useful for improving coordination methods between humans and/or machines.
{"title":"Dynamical role division between two subjects in a crank-rotation task","authors":"R. Ueha, Hang T. T. Pham, Hiroaki Hirai, F. Miyazaki","doi":"10.1109/ICORR.2009.5209584","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209584","url":null,"abstract":"This paper discusses skillful role divisions of coordinated motion between two subjects in a crank-rotation task. The roles for coordination, called “specialization”, emerge from only haptic interaction between the subjects, through which each subject comes to play a specialized role without conscious understanding. The purpose of this paper is, therefore, to deepen the understanding of “specialization”, which may be useful for improving coordination methods between humans and/or machines.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":" 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113950971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209600
Mineo Higuchi, T. Ogasawara
This paper presents the PAS-Arm (Passive ASsist Arm), a novel assist arm based on passive robotics. PAS-Arms are intended for direct physical interaction with a human operator. PAS-Arms are physically passive. Their purpose is not to enhance human strength but to produce specified but arbitrary two-dimensional guiding surfaces that constrain and guide the motion of the human operator. PAS-Arms have three joints and a three dimensional workspace but possess only two degrees of freedom due to the reduction of degrees of freedom created by a combination of continuously variable transmissions (CVTs) and a differential mechanism. This paper proposes the basic concept and principle of PAS-Arms. We also describe the design and experimental results of a prototype PAS-Arm.
{"title":"Development of a human symbiotic assist arm PAS-Arm","authors":"Mineo Higuchi, T. Ogasawara","doi":"10.1109/ICORR.2009.5209600","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209600","url":null,"abstract":"This paper presents the PAS-Arm (Passive ASsist Arm), a novel assist arm based on passive robotics. PAS-Arms are intended for direct physical interaction with a human operator. PAS-Arms are physically passive. Their purpose is not to enhance human strength but to produce specified but arbitrary two-dimensional guiding surfaces that constrain and guide the motion of the human operator. PAS-Arms have three joints and a three dimensional workspace but possess only two degrees of freedom due to the reduction of degrees of freedom created by a combination of continuously variable transmissions (CVTs) and a differential mechanism. This paper proposes the basic concept and principle of PAS-Arms. We also describe the design and experimental results of a prototype PAS-Arm.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127703426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209577
M. Takahashi, M. Gouko, Koji Ito
Event Related Desynchronization (ERD) which is a specific brain wave of motor imagery is popular in the Brain Computer Interface (BCI) researches. Several researches showed that sensory feedbacks affected ERD, but it is not clear which sensory inputs (tactile, muscular, tendonious and articular) mainly affect ERD.We examined how ERD is affected by the Functional Electrical Stimulation (FES) on both feet for healthy subjects. The results indicated that bigger ERD was extracted as the FES stimulus increase. And bigger ERD was also extracted during the leg free condition than the leg fixed condition. It suggests that the muscular and articular sensations induce ERD on foot motor area (Cz).
事件相关去同步(Event Related Desynchronization, ERD)是脑机接口(BCI)研究的热点，是运动成像的一种特殊脑电波。一些研究表明，感觉反馈影响ERD，但不清楚哪些感觉输入(触觉、肌肉、肌腱和关节)主要影响ERD。我们研究了健康人双脚功能性电刺激(FES)对ERD的影响。结果表明，随着FES刺激的增加，提取的ERD更大。腿自由状态下提取的ERD也比腿固定状态下大。提示肌肉和关节感觉诱发足部运动区(Cz)的ERD。
{"title":"Fundamental research about electroencephalogram (EEG) - Functional Electrical Stimulation (FES) rehabilitation system","authors":"M. Takahashi, M. Gouko, Koji Ito","doi":"10.1109/ICORR.2009.5209577","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209577","url":null,"abstract":"Event Related Desynchronization (ERD) which is a specific brain wave of motor imagery is popular in the Brain Computer Interface (BCI) researches. Several researches showed that sensory feedbacks affected ERD, but it is not clear which sensory inputs (tactile, muscular, tendonious and articular) mainly affect ERD.We examined how ERD is affected by the Functional Electrical Stimulation (FES) on both feet for healthy subjects. The results indicated that bigger ERD was extracted as the FES stimulus increase. And bigger ERD was also extracted during the leg free condition than the leg fixed condition. It suggests that the muscular and articular sensations induce ERD on foot motor area (Cz).","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121440628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-06-23DOI: 10.1109/ICORR.2009.5209557
J. Veneman, D. Popović, T. Keller
The Walkaround is a passive hands-free walker that supports the posture during training of walking of hemiplegic individuals via a lumbar belt connected with three elastic suspensors. In this paper the reference 6D-motions of the belt are presented during healthy subjects' gait. The effects of the elastic connections of a subject to the walker on healthy gait were determined by assessing several gait parameters. The assessment preliminarily shows that this elastic connection mildly affects healthy gait, and assists in postural stability. The results also show that the Walkaround in the current form limits walking at normal speed. These results would suggest that actuation of the elastic connections is required for allowing walking that is healthy like.
{"title":"Influence on walking dynamics of a gait training device that is connected through a lumbar belt","authors":"J. Veneman, D. Popović, T. Keller","doi":"10.1109/ICORR.2009.5209557","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209557","url":null,"abstract":"The Walkaround is a passive hands-free walker that supports the posture during training of walking of hemiplegic individuals via a lumbar belt connected with three elastic suspensors. In this paper the reference 6D-motions of the belt are presented during healthy subjects' gait. The effects of the elastic connections of a subject to the walker on healthy gait were determined by assessing several gait parameters. The assessment preliminarily shows that this elastic connection mildly affects healthy gait, and assists in postural stability. The results also show that the Walkaround in the current form limits walking at normal speed. These results would suggest that actuation of the elastic connections is required for allowing walking that is healthy like.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121763423","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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