LOGIN TO YOUR ACCOUNT

Username
Password
Remember Me
Or use your Academic/Social account:

CREATE AN ACCOUNT

Or use your Academic/Social account:

Congratulations!

You have just completed your registration at OpenAire.

Before you can login to the site, you will need to activate your account. An e-mail will be sent to you with the proper instructions.

Important!

Please note that this site is currently undergoing Beta testing.
Any new content you create is not guaranteed to be present to the final version of the site upon release.

Thank you for your patience,
OpenAire Dev Team.

Close This Message

CREATE AN ACCOUNT

Name:
Username:
Password:
Verify Password:
E-mail:
Verify E-mail:
*All Fields Are Required.
Please Verify You Are Human:
fbtwitterlinkedinvimeoflicker grey 14rssslideshare1
Publisher: IEEE
Languages: English
Types: Part of book or chapter of book
Subjects:
Walking mechanics has been studied for a long time, being essentially simple but nevertheless including quite tricky aspects. During walking, muscular forces are needed to\ud support body weight and accelerate the body, thereby requiring a metabolic demand. In this paper, a new Constant Pushing Force Device (CPFD) is presented. Based on a novel actuation concept, the device is totally passive and is used to apply a constant force to the pelvis of a subject walking on a treadmill. The device is a serial manipulator featuring springs that provide gravity balancing to the device and exert a constant force regardless of the pelvis motion during walking. This is obtained using only two extension springs and no auxiliary links, unlike existing designs. A first experiment was carried out on a healthy subject to experimentally validate the device\ud and assess the effect of the external force on gait kinematics and timing. Results show that the device was capable of exerting an approximately constant pushing force, whose action affected subject’s cadence and the motion of the hip and ankle joints.
  • The results below are discovered through our pilot algorithms. Let us know how we are doing!

    • [1] G. S. Sawicki and D. P. Ferris, “Powered ankle exoskeletons reveal the metabolic cost of plantar flexor mechanical work during walking with longer steps at constant step frequency,” Journal of Experimental Biology, vol. 212, no. 1, pp. 21-31, 2009.
    • [2] C. P. McGowan, R. R. Neptune, and R. Kram, “Independent effects of weight and mass on plantar flexor activity during walking: implications for their contributions to body support and forward propulsion,” Journal of applied physiology, vol. 105, no. 2, pp. 486-494, 2008.
    • [3] J. S. Gottschall and R. Kram, “Energy cost and muscular activity required for leg swing during walking,” Journal of Applied Physiology, vol. 99, no. 1, pp. 23-30, 2005.
    • [4] --, “Energy cost and muscular activity required for propulsion during walking,” Journal of Applied Physiology, vol. 94, no. 5, pp. 1766-1772, 2003.
    • [5] V. Vashista et al., “Force adaptation in human walking with symmetrically applied downward forces on the pelvis,” in Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE. IEEE, 2012, pp. 3312-3315.
    • [6] S.-C. Yen et al., “Locomotor adaptation to resistance during treadmill training transfers to overground walking in human sci,” Experimental brain research, vol. 216, no. 3, pp. 473-482, 2012.
    • [7] G. Colombo, M. Wirz, V. Dietz et al., “Driven gait orthosis for improvement of locomotor training in paraplegic patients,” Spinal Cord, vol. 39, no. 5, pp. 252-255, 2001.
    • [8] S. K. Banala, S. H. Kim, S. K. Agrawal, and J. P. Scholz, “Robot assisted gait training with active leg exoskeleton (alex),” Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 17, no. 1, pp. 2-8, 2009.
    • [9] K. N. Winfree, P. Stegall, and S. K. Agrawal, “Design of a minimally constraining, passively supported gait training exoskeleton: Alex ii,” in Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on. IEEE, 2011, pp. 1-6.
    • [10] D. Zanotto, P. Stegall, and S. K. Agrawal, “ALEX III: A novel robotic platform with 12 DOFs for human gait training,” in Proc. of the IEEE International Conference on Robotics and Automation, ICRA 2013, 2013, pMID: not available.
    • [11] E. Van Asseldonk et al., “Selective control of a subtask of walking in a robotic gait trainer (lopes),” in Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on. IEEE, 2007, pp. 841-848.
    • [12] T. G. Sugar, K. W. Hollander, and J. K. Hitt, “Walking with springs,” in SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring. International Society for Optics and Photonics, 2011, pp. 797 602-797 602.
    • [13] B. Lenzo, A. Frisoli, F. Salsedo, and M. Bergamasco, “An innovative actuation concept for a new hybrid robotic system,” Romansy 19-Robot Design, Dynamics and Control, p. 135, 2013.
    • [14] V. Hayward et al., “Freedom-7: A high fidelity seven axis haptic device with application to surgical training,” Experimental Robotics V, pp. 443-456, 1998.
    • [15] N. Ulrich and V. Kumar, “Passive mechanical gravity compensation for robot manipulators,” in Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on. IEEE, 1991, pp. 1536-1541.
    • [16] S. K. Agrawal, G. Gardner, and S. Pledgie, “Design and fabrication of an active gravity balanced planar mechanism using auxiliary parallelograms,” Journal of mechanical design, vol. 123, no. 4, pp. 525-528, 2001.
    • [17] K. Koser, “A cam mechanism for gravity-balancing,” Mechanics Research Communications, vol. 36, no. 4, pp. 523-530, 2009.
    • [18] J. Perry, J. R. Davids et al., “Gait analysis: normal and pathological function,” Journal of Pediatric Orthopaedics, vol. 12, no. 6, p. 815, 1992.
    • [19] R. R. Neptune, S. Kautz, and F. Zajac, “Contributions of the individual ankle plantar flexors to support, forward progression and swing initiation during walking,” Journal of biomechanics, vol. 34, no. 11, pp. 1387-1398, 2001.
    • [20] L. Zhao, L. Zhang, L. Wang, and J. Wang, “Three-dimensional motion of the pelvis during human walking,” in Mechatronics and Automation, 2005 IEEE International Conference, vol. 1. IEEE, 2005, pp. 335- 339.
    • [21] P.-Y. Lin, W.-B. Shieh, and D.-Z. Chen, “A theoretical study of weightbalanced mechanisms for design of spring assistive mobile arm support (mas),” Mechanism and Machine Theory, vol. 61, pp. 156-167, 2013.
    • [22] R. Barents et al., “Spring-to-spring balancing as energy-free adjustment method in gravity equilibrators.” ASME, 2009.
    • [23] A. Agrawal and S. K. Agrawal, “Design of gravity balancing leg orthosis using non-zero free length springs,” Mechanism and machine theory, vol. 40, no. 6, pp. 693-709, 2005.
    • [24] M. P. Kadaba, H. Ramakrishnan, and M. Wootten, “Measurement of lower extremity kinematics during level walking,” Journal of Orthopaedic Research, vol. 8, no. 3, pp. 383-392, 1990.
    • [25] A. Leroux, J. Fung, and H. Barbeau, “Postural adaptation to walking on inclined surfaces: I. normal strategies,” Gait & posture, vol. 15, no. 1, pp. 64-74, 2002.
    • [26] J. SUN, M. WALTERS, N. SVENSSON, and D. LLOYD, “The influence of surface slope on human gait characteristics: a study of urban pedestrians walking on an inclined surface,” Ergonomics, vol. 39, no. 4, pp. 677-692, 1996.
    • [27] J. Wall, J. Nottrodt, and J. Charteris, “The effects of uphill and downhill walking on pelvic oscillations in the transverse plane,” Ergonomics, vol. 24, no. 10, pp. 807-816, 1981.
    • [28] M. Kuster, S. Sakurai, and G. Wood, “Kinematic and kinetic comparison of downhill and level walking,” Clinical Biomechanics, vol. 10, no. 2, pp. 79-84, 1995.
    • [29] D. Wanta, F. Nagle, and P. Webb, “Metabolic response to graded downhill walking.” Medicine and science in sports and exercise, vol. 25, no. 1, p. 159, 1993.
  • No related research data.
  • No similar publications.

Share - Bookmark

Cite this article