Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System
Background. Robotic locomotion rehabilitation systems have been used for gait training in patients who have had a stroke. Most commercialized systems allow patients to perform simple exercises such as balancing or level walking, but an additional function such as stair-walk training is required to p...
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| Language: | English |
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Wiley
2019-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2019/1495289 |
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| author | Sang-Eun Park Ye-Ji Ho Min Ho Chun Jaesoon Choi Youngjin Moon |
| author_facet | Sang-Eun Park Ye-Ji Ho Min Ho Chun Jaesoon Choi Youngjin Moon |
| author_sort | Sang-Eun Park |
| collection | DOAJ |
| description | Background. Robotic locomotion rehabilitation systems have been used for gait training in patients who have had a stroke. Most commercialized systems allow patients to perform simple exercises such as balancing or level walking, but an additional function such as stair-walk training is required to provide a wide range of recovery cycle rehabilitation. In this study, we analyzed stair-gait patterns and applied the result to a robotic rehabilitation system that can provide a vertical motion of footplates. Methods. To obtain applicable data for the robotic system with vertically movable footplates, stair-walk action was measured using an optical marker-based motion capture system. The spatial position data of joints during stair walking was obtained from six healthy adults who participated in the experiment. The measured marker data were converted into joint kinematic data by using an algorithm that included resampling and normalization. The spatial position data are represented as angular trajectories and the relative displacement of each joint on the anatomical sagittal plane and movements of hip joints on the anatomical transverse plane. Results. The average range of motion (ROM) of each joint was estimated as (−6.75°,48.69°) at the hip, 8.20°,93.78° at the knee, and −17.78°,11.75° at the ankle during ascent and as 6.41°,31.67° at the hip, 7.38°,91.93° at the knee, and −24.89°,24.18° at the ankle during descent. Additionally, we attempted to create a more natural stair-gait pattern by analyzing the movement of the hip on the anatomical transverse plane. The hip movements were estimated to within ±1.57 cm and ±2.00 cm for hip translation and to within ±2.52° and ±2.70° for hip rotation during stair ascent and stair descent, respectively. Conclusions. Based on the results, standard patterns of stair ascent and stair descent were derived and applied to a lower-limb rehabilitation robot with vertically movable footplates. The relative trajectory from the experiment ascertained that the function of stair walking in the robotic system properly worked within a normal ROM. |
| format | Article |
| id | doaj-art-36dc9fe627294c77b8754714501e1fa6 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-36dc9fe627294c77b8754714501e1fa62025-02-03T01:28:11ZengWileyApplied Bionics and Biomechanics1176-23221754-21032019-01-01201910.1155/2019/14952891495289Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation SystemSang-Eun Park0Ye-Ji Ho1Min Ho Chun2Jaesoon Choi3Youngjin Moon4Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center, Seoul, Republic of KoreaBiomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center, Seoul, Republic of KoreaDepartment of Rehabilitation Medicine, Asan Medical Center, University of Ulsan College of Medicine, Seoul, Republic of KoreaBiomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center, Seoul, Republic of KoreaBiomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center, Seoul, Republic of KoreaBackground. Robotic locomotion rehabilitation systems have been used for gait training in patients who have had a stroke. Most commercialized systems allow patients to perform simple exercises such as balancing or level walking, but an additional function such as stair-walk training is required to provide a wide range of recovery cycle rehabilitation. In this study, we analyzed stair-gait patterns and applied the result to a robotic rehabilitation system that can provide a vertical motion of footplates. Methods. To obtain applicable data for the robotic system with vertically movable footplates, stair-walk action was measured using an optical marker-based motion capture system. The spatial position data of joints during stair walking was obtained from six healthy adults who participated in the experiment. The measured marker data were converted into joint kinematic data by using an algorithm that included resampling and normalization. The spatial position data are represented as angular trajectories and the relative displacement of each joint on the anatomical sagittal plane and movements of hip joints on the anatomical transverse plane. Results. The average range of motion (ROM) of each joint was estimated as (−6.75°,48.69°) at the hip, 8.20°,93.78° at the knee, and −17.78°,11.75° at the ankle during ascent and as 6.41°,31.67° at the hip, 7.38°,91.93° at the knee, and −24.89°,24.18° at the ankle during descent. Additionally, we attempted to create a more natural stair-gait pattern by analyzing the movement of the hip on the anatomical transverse plane. The hip movements were estimated to within ±1.57 cm and ±2.00 cm for hip translation and to within ±2.52° and ±2.70° for hip rotation during stair ascent and stair descent, respectively. Conclusions. Based on the results, standard patterns of stair ascent and stair descent were derived and applied to a lower-limb rehabilitation robot with vertically movable footplates. The relative trajectory from the experiment ascertained that the function of stair walking in the robotic system properly worked within a normal ROM.http://dx.doi.org/10.1155/2019/1495289 |
| spellingShingle | Sang-Eun Park Ye-Ji Ho Min Ho Chun Jaesoon Choi Youngjin Moon Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System Applied Bionics and Biomechanics |
| title | Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System |
| title_full | Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System |
| title_fullStr | Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System |
| title_full_unstemmed | Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System |
| title_short | Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System |
| title_sort | measurement and analysis of gait pattern during stair walk for improvement of robotic locomotion rehabilitation system |
| url | http://dx.doi.org/10.1155/2019/1495289 |
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