CPG-controlled frontal biped model for the evaluation of pathological gait

Betsy V. Hunter, Yasin Y. Dhaher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Increased frontal-plane hip movement of the affected leg during the swing phase is a commonly observed gait adaptation in stroke patients. Recent evidence suggests that pathologically- induced torque coupling may contribute to asymmetric gait behaviors observed following stroke. This study proposes to use a CPG-controlled three-dimensional (3D) bipedal model to quantify the effects of abnormal torque coupling on frontal plane gait kinematics. Model dynamics have been evaluated using overground data collection observed under comparable in vivo experimental conditions. The CPG controller has demonstrated ability to provide sustained stable gait over an inclined surface in a simplified model. Preliminary results indicate that the proposed framework is feasible to control a 3D model for investigating the effects of torque coupling on the abnormal frontal plane kinematics of pathological gait.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages383-386
Number of pages4
ISBN (Print)9780791843758
DOIs
StatePublished - Jan 1 2010
Externally publishedYes
Event2009 ASME International Mechanical Engineering Congress and Exposition, IMECE2009 - Lake Buena Vista, FL, United States
Duration: Nov 13 2009Nov 19 2009

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings
Volume2

Conference

Conference2009 ASME International Mechanical Engineering Congress and Exposition, IMECE2009
CountryUnited States
CityLake Buena Vista, FL
Period11/13/0911/19/09

Fingerprint

Torque
Kinematics
Dynamic models
Controllers

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Hunter, B. V., & Dhaher, Y. Y. (2010). CPG-controlled frontal biped model for the evaluation of pathological gait. In Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009 (pp. 383-386). (ASME International Mechanical Engineering Congress and Exposition, Proceedings; Vol. 2). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2009-12966

CPG-controlled frontal biped model for the evaluation of pathological gait. / Hunter, Betsy V.; Dhaher, Yasin Y.

Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. American Society of Mechanical Engineers (ASME), 2010. p. 383-386 (ASME International Mechanical Engineering Congress and Exposition, Proceedings; Vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hunter, BV & Dhaher, YY 2010, CPG-controlled frontal biped model for the evaluation of pathological gait. in Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. ASME International Mechanical Engineering Congress and Exposition, Proceedings, vol. 2, American Society of Mechanical Engineers (ASME), pp. 383-386, 2009 ASME International Mechanical Engineering Congress and Exposition, IMECE2009, Lake Buena Vista, FL, United States, 11/13/09. https://doi.org/10.1115/IMECE2009-12966
Hunter BV, Dhaher YY. CPG-controlled frontal biped model for the evaluation of pathological gait. In Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. American Society of Mechanical Engineers (ASME). 2010. p. 383-386. (ASME International Mechanical Engineering Congress and Exposition, Proceedings). https://doi.org/10.1115/IMECE2009-12966
Hunter, Betsy V. ; Dhaher, Yasin Y. / CPG-controlled frontal biped model for the evaluation of pathological gait. Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. American Society of Mechanical Engineers (ASME), 2010. pp. 383-386 (ASME International Mechanical Engineering Congress and Exposition, Proceedings).
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