Title :
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
fDate :
June 29 2011-July 1 2011
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;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2011.5975465
