A body-worn gait analysis system for evaluating hemiplegic gait

Granat, Malcolm; Maxwell, Douglas J.; Bosch, C.J.; Ferguson, A.; Lees, K R; Barbenel, J.C.

doi:10.1016/1350-4533(95)97321-f

Cited by 17 publications

(7 citation statements)

References 7 publications

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“…We never experienced a loss of foot contact feedback in using this system with the RunBot robot or during the data collection with human participants, although a failure of the foot contact sensors could occur with potential dangerous consequences for the biped locomotion. The FSRs used in the study have a typical operation beyond 1,000,000 actuations [37] , making them suitable for use in the detection of foot contact, for which they have been used previously [25] , [26] , [38] . Future development of the system to improve robustness and fault tolerance could involve integration of internal forward models with efference copy.…”

Section: Discussionmentioning

confidence: 99%

“…The device also incorporates amplifier circuitry for force sensing resistors (FSRs) (Interlink Electronics, Camarillo, CA, USA) for measuring foot contact information. The FSRs are embedded in standard shoe insoles at four different positions under each of the feet for recording areas of peak pressure distribution during walking (main weight bearing areas); under the first and fifth metatarsals, big toe and heel, as described by Granat et al [25] . Images of the experimental set-up can be seen in Fig.…”

Section: Methodsmentioning

confidence: 99%

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Reflex Control of Robotic Gait Using Human Walking Data

et al. 2014

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Control of human walking is not thoroughly understood, which has implications in developing suitable strategies for the retraining of a functional gait following neurological injuries such as spinal cord injury (SCI). Bipedal robots allow us to investigate simple elements of the complex nervous system to quantify their contribution to motor control. RunBot is a bipedal robot which operates through reflexes without using central pattern generators or trajectory planning algorithms. Ground contact information from the feet is used to activate motors in the legs, generating a gait cycle visually similar to that of humans. Rather than developing a more complicated biologically realistic neural system to control the robot's stepping, we have instead further simplified our model by measuring the correlation between heel contact and leg muscle activity (EMG) in human subjects during walking and from this data created filter functions transferring the sensory data into motor actions. Adaptive filtering was used to identify the unknown transfer functions which translate the contact information into muscle activation signals. Our results show a causal relationship between ground contact information from the heel and EMG, which allows us to create a minimal, linear, analogue control system for controlling walking. The derived transfer functions were applied to RunBot II as a proof of concept. The gait cycle produced was stable and controlled, which is a positive indication that the transfer functions have potential for use in the control of assistive devices for the retraining of an efficient and effective gait with potential applications in SCI rehabilitation.

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Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Reflex Control of Robotic Gait Using Human Walking Data

et al. 2014

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“…This was expressed as a percentage of continuous metatarsal contact time. A value of 100% indicated that there was no contact under the 1st metatarsal, a value of 0% indicated equal contact times between 1st and 5th metatarsal and a value of −100% indicated no contact of the 5th metatarsal [14]. Table 2 Ankle angle at the end of swing phase in each subject across various study phases compared to baseline.…”

Section: Inversionmentioning

confidence: 99%

A combination of Botulinum Toxin A therapy and Functional Electrical Stimulation in children with cerebral palsy – A pilot study

Galen

Wiggins

McWilliam

et al. 2012

THC

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Background: Among the ambulant population of children with spastic cerebral palsy (CP), dynamic equinus is one of the most common form of gait deviation that is encountered.Objective: To investigate the combined effects of Functional Electrical Stimulation (FES) and Botulinum Toxin A (BTXA) therapy in children with spastic CP, and to demonstrate the feasibility of this combination therapy.Methods: A single-subject design with repeated measures was adopted. Eight children (six males, two females; mean age 7 y 9 mo, SD 1 y 5 mo; range 7 y to 11 y) diagnosed with hemiplegic (n = 6) or diplegic (n = 2) spastic CP completed the study. Each subject participated in the study for twenty weeks. This period consisted of baseline (one week), BTXA phase (three weeks), first FES phase (four weeks), first control phase (four weeks), second FES phase (four weeks) and second control phase (four weeks). Subjects were assessed at the end of each phase. The ankle angle at the end of swing phase was selected as the primary outcome measure. The secondary outcome measure recorded was the foot contact pattern.Results: There was an increase in ankle dorsiflexion at the end of the combined intervention in most subjects (n = 6), accompanied by an improvement in foot contact pattern.Conclusions: This pilot study demonstrated that it is feasible to combine BTXA therapy with FES in ambulant children with spastic CP.

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“…In addition, in stroke patients, inappropriate weight bearing on the affected side with symptom-like foot drop may cause severe problems in postural control and body alignment, as well as asymmetry and alteration of muscle activation 2 ) . As a result, walking in patients with stroke even after rehabilitation therapy may be associated with increased energy expenditure and less efficiency 3 ) .…”

Section: Introductionmentioning

confidence: 99%

Effects of Robot-assisted Gait Training Combined with Functional Electrical Stimulation on Recovery of Locomotor Mobility in Chronic Stroke Patients: A Randomized Controlled Trial

Bae

Chang

et al. 2014

J Phys Ther Sci

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[Purpose] The purpose of the present study was to investigate the effects of robot-assisted gait training combined with functional electrical stimulation on locomotor recovery in patients with chronic stroke. [Subjects] The 20 subjects were randomly assigned into either an experimental group (n = 10) that received a combination of robot-assisted gait training and functional electrical stimulation on the ankle dorsiflexor of the affected side or a control group (n = 10) that received robot-assisted gait training only. [Methods] Both groups received the respective therapies for 30 min/day, 3 days/week for 5 weeks. The outcome was measured using the Modified Motor Assessment Scale (MMAS), Timed Up-and-Go Test (TUG), Berg Balance Scale (BBS), and gait parameters through gait analysis (Vicon 370 motion analysis system, Oxford Metrics Ltd., Oxford, UK). All the variables were measured before and after training. [Results] Step length and maximal knee extension were significantly greater than those before training in the experimental group only. Maximal Knee flexion showed a significant difference between the experimental and control groups. The MMAS, BBS, and TUG scores improved significantly after training compared with before training in both groups. [Conclusion] We suggest that the combination of robot-assisted gait training and functional electrical stimulation encourages patients to actively participate in training because it facilitates locomotor recovery without the risk of adverse effects.

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A body-worn gait analysis system for evaluating hemiplegic gait

Cited by 17 publications

References 7 publications

Reflex Control of Robotic Gait Using Human Walking Data

Reflex Control of Robotic Gait Using Human Walking Data

A combination of Botulinum Toxin A therapy and Functional Electrical Stimulation in children with cerebral palsy – A pilot study

Effects of Robot-assisted Gait Training Combined with Functional Electrical Stimulation on Recovery of Locomotor Mobility in Chronic Stroke Patients: A Randomized Controlled Trial

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