Download:
|
by Tadej Bajd, Alojz Kralj, Ljubljana Slovenia
ftp://ftp.cis.upenn.edu/pub/milos/smc96.ps
Add To MetaCart
Abstract:
We present a kinematic model of a paraplegic subject walking with crutches where the subject with the crutches is modeled as a parallel kinematic structure. The model is employed to investigate if certain quadrupedal gait patterns can be implemented with functional electrical stimulation. The study is motivated by the fact that the existing crutch-assisted gait realized by the electrical stimulation is slow and energy inefficient. Gait patterns that would improve the walking are identified. The main characteristic of the patterns is that some of their states are not statically stable. During such states, the subject is supported by only a leg and a crutch. It is demonstrated that if the forward motion is provided by the stimulation of the plantar flexors the trajectory of the center of the body can closely follow the trajectory that is observed during walking of healthy subjects. We argue that the resulting gait is smooth and energy efficient. In addition, the unstable states make the walking faster.
Citations
|
21
|
The human figure in motion
– MUYBRIDGE
- 1955
|
|
13
|
A Stweart platform-based manipulator: General theory and practical construction
– Fichter
- 1987
|
|
11
|
Structural Kinematics of In-Parallel-Actuated Robot Arms
– Hunt
- 1983
|
|
11
|
Restoring unassisted natural gait to paraplegics via functional neuromuscular stimulation: a computer simulation study
– Yamaguchi, Zajac
- 1990
|
|
10
|
Functional Electrical Stimulation: Standing and Walking After Spinal Cord Injury. Boca
– Kralj, Bajd
- 1989
|
|
6
|
Biomechanics of Human Movement
– Winter
- 1979
|
|
2
|
Hybrid FES orthosis incorporating closed loop control and sensory feedback
– Andrews, Baxendale, et al.
- 1988
|
|
1
|
The use of a four-channel electrical stimulator as an ambulatory aid for paraplegic patients
– Bajd, Kralj, et al.
- 1983
|
|
1
|
Functional walking in paralyzed patients by means of electrical stimulation
– Marsolais, Kobetic
- 1988
|
|
1
|
Advancing step-by-step
– Kobetic
- 1994
|
|
1
|
An interactive system of electronic stimulators and gait orthosis for walking in the spinal cord injured
– Phillips
- 1989
|
|
1
|
FES utilization statistics for 94 patients
– Kralj, Turk, et al.
- 1993
|
|
1
|
Unstable states in 4-point walking
– Bajd, Kralj, et al.
- 1993
|
|
1
|
Four-point walking patterns in paralyzed persons
– Bajd, Kralj
- 1991
|
|
1
|
Significance of FES-assisted plantarflexion during walking of incomplete SCI subjects
– Bajd, Kralj, et al.
- 1994
|
