Asymmetric passive dynamic walker

Author

Honeycutt, Craig ; Sushko, John ; Reed, Kyle B.

Author_Institution

Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL, USA

fYear

2011

fDate

June 29 2011-July 1 2011

Firstpage

1

Lastpage

6

Abstract

The objective of this research is to better understand the dynamics of gait asymmetry in humans with central nervous system damage, such as stroke, by using a model of a passive dynamic walker (PDW). By changing the mass, mass location, knee location, and leg length of one leg while leaving the parameters of the other leg unchanged, we show that stable asymmetric walking patterns exist for PDW models. The asymmetric PDW model shows several stable walking patterns that have a single, double, and quadruple repeat pattern where the step lengths between the two legs differ by over 15%. This model will allow an analysis of the passive dynamics of walking separate from the cognitive control in asymmetric human walking to test different gait rehabilitation hypotheses.

Keywords

gait analysis; neurophysiology; patient rehabilitation; physiological models; asymmetric human walking; central nervous system damage; cognitive control; gait asymmetry; gait rehabilitation; knee location; leg length; mass location; passive dynamic walker; quadruple repeat pattern; stroke; Humans; Knee; Leg; Legged locomotion; Mathematical model; Thigh; Trajectory; asymmetric gait; gait rehabilitation; passive dynamic walker; Biomechanics; Gait; Humans; Models, Theoretical; Robotics; Self-Help Devices; Stroke; Walking;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on

Conference_Location

Zurich

ISSN

1945-7898

Print_ISBN

978-1-4244-9863-5

Electronic_ISBN

1945-7898

Type

conf

DOI

10.1109/ICORR.2011.5975465

Filename

5975465