Accurate gait event detection is necessary for control strategies of gait rehabilitation robots. However, due to personal diversity between individuals, it is a challenge for robots to detect a gait event at various stride frequencies. This paper proposes a novel method for gait event detection of a gait rehabilitation robot using a single inertial sensor mounted on the thigh. A self-adaptive threshold for detecting heel strike is obtained in real time via a linear regression model. Observable thresholds for toe off detection are constant at various stride frequencies. Experiments are conducted based on 20 healthy subjects and six hemiplegic patients wearing a gait rehabilitation robot and walking at various kinds of stride frequencies. The experimental results show that the proposed method can detect heel strike and toe off gait events within an average 2% gait cycle temporal errors and never miss two-gait event detection. Compared to the conventional thresholding method, this work presents a simple and robust application for gait event detection in healthy and hemiplegic subjects by one inertial sensor. The linear regression model can be applicable to different subjects walking at various stride frequencies.
BACKGROUND: Vibration exercise has been investigated to enhance muscle activation, however, the effect of different amplitude vibratory exercises on cardiovascular stress is less understood. OBJECTIVE: Our study aims to explore the acute effect of shoulder vibratory exercises with different postures and amplitudes on the cardiovascular response in healthy adults. METHODS: Using a repeated measures randomized design, 36 subjects performed three different sessions with FLEXI-BAR exercise (FBE): (1) zero-amplitude, (2) small-amplitude, (3) large-amplitude. Each session included three different shoulder positions: 45-, 90- and 180-degree flexion. Heart rate variability (HRV), heart rate (HR) and rating of perceived exertion (RPE) were monitored continuously, while systolic blood pressure (SBP), diastolic blood pressure (DBP) and rate-pressure product (RPP) were measured before and after each exercise session. RESULTS: Compared with zero-amplitude, both small- and large-amplitude FBE protocols induced higher SBP. By contrast, DBP decreased with small- and large-amplitude. The RPP immediately after the exercise session were higher than at baseline. For high frequency, low frequency of HRV and HR there was a main effect of amplitude. CONCLUSION: Small- and large-amplitude FBE increased significantly SBP, RPE, HRV, HR and induced lower DBP, but the changes were modest, suggesting that FBE impose no extra threats to cardiovascular stress.
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