Assessment of Human Dynamic Gait Stability With a Lower Extremity Assistive Device

Chinimilli, Prudhvi Tej; Sorkhabadi, Seyed Mostafa Rezayat; Zhang, Wenlong

doi:10.1109/tnsre.2020.2970207

Cited by 17 publications

(6 citation statements)

References 37 publications

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“…The most extended method was to modulate the impedance level of the robotic joint according to the biomechanical requirements of the human joint during each gait state. Typically, a high-impedance model was applied during stance to assist weight acceptance, while a low-impedance model allowed free movement of the leg during the swing state ( Blaya and Herr, 2004 ; Chinimilli et al, 2020 ; dos Santos et al, 2017 ; Kim et al, 2015 ; Shamaei et al, 2013 ; Villa-Parra et al, 2017 ; El Zahraa Wehbi et al, 2017 ; Xu et al, 2019 ; Zhou et al, 2016 ).…”

Section: State Of the Artmentioning

confidence: 99%

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Lora-Millán

Moreno

Rocón

2022

Front. Bioeng. Biotechnol.

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Lower-limb robotic exoskeletons have become powerful tools to assist or rehabilitate the gait of subjects with impaired walking, even when they are designed to act only partially over the locomotor system, as in the case of unilateral or single-joint exoskeletons. These partial exoskeletons require a proper method to synchronize their assistive actions and ensure correct inter-joint coordination with the user’s gait. This review analyzes the state of the art of control strategies to coordinate the assistance provided by these partial devices with the actual gait of the wearers. We have analyzed and classified the different approaches independently of the hardware implementation, describing their basis and principles. We have also reviewed the experimental validations of these devices for impaired and unimpaired walking subjects to provide the reader with a clear view of their technology readiness level. Eventually, the current state of the art and necessary future steps in the field are summarized and discussed.

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Section: State Of the Artmentioning

confidence: 99%

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Lora-Millán

Moreno

Rocón

2022

Front. Bioeng. Biotechnol.

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“…A finite state machine (FSM) is an event-driven control approach for the discrete system, in which an FSM makes a transition from one state to another, if the condition defining the change is true [22,23]. In the motion control of lower limb exoskeleton via FSM, the transmission has four operating states or the walking phases: left foot lifting, left foot falling, right foot lifting, and right foot falling.…”

Section: Finite State Machine Control and Max-plus Algebra Modelmentioning

confidence: 99%

Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Qin

Liu

2021

Discrete Dynamics in Nature and Society

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Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.

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“…These types of devices help to assess the risk of falling in a more objective form due to the precision in the analysis of the postural control movement [32]. Additionally, new assistive robots have been developed to improve stability control in walking, and could be very useful in reducing the risk of falling [33]. On the other hand, these studies analyze the strategies used to recover balance by older adults in the presence of the external disturbances mentioned above.…”

Section: Introductionmentioning

confidence: 99%

Classification and Definitions of Compensatory Protective Step Strategies in Older Adults: A Scoping Review

Melo-Alonso,

Murillo-Garcia,

Leon-Llamas

et al. 2024

JCM

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Background: The risk for an unexpected fall can be due to increasing age, health conditions, and loss of cognitive, sensory, or musculoskeletal functions. Falls have personal and economic consequences in many countries. Different disturbances can occur during gait, such as tripping, slipping, or other unexpected circumstances that can generate a loss of balance. The strategies used to recover balance depend on many factors, but selecting a correct response strategy influences the success of balance recovery. Objectives: (1) To collect and clarify the definitions of compensatory protective step strategies to recover balance in older adults; (2) to identify the most used methods to induce loss of balance; and (3) to identify the most used spatiotemporal variables in analyzing these actions. Methods: The present review has followed the PRISMA guideline extension for Scoping Review (PRISMA-ScR) and the phases proposed by Askery and O’Malley. The search was conducted in three databases: PubMed, Web of Science, and Scopus. Results: A total of 525 articles were identified, and 53 studies were included. Forty-five articles were quasi-experimental studies, six articles were randomized controlled trials, and two studies had an observational design. In total, 12 compensatory protective step strategies have been identified. Conclusions: There are 12 compensatory protective step strategies: lowering and elevating strategy, short- and long-step strategy, backward and forward stepping for slip, single step, multiple steps, lateral sidesteps or loaded leg sidestep unloaded leg sidestep, crossover step (behind and front), and medial sidestep. To standardize the terminology applied in future studies, we recommend collecting these strategies under the term of compensatory protective step strategies. The most used methods to induce loss of balance are the tether-release, trip, waist-pull, and slip methods. The variables analyzed by articles are the number of steps, the acceleration phase and deceleration phase, COM displacement, the step initiation or step duration, stance phase time, swing phase time and double-stance duration, stride length, step length, speed step, speed gait and the type of step.

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Assessment of Human Dynamic Gait Stability With a Lower Extremity Assistive Device

Cited by 17 publications

References 37 publications

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Classification and Definitions of Compensatory Protective Step Strategies in Older Adults: A Scoping Review

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