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.
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ASME 2009 International Mechanical Engineering Congress and Exposition
November 13–19, 2009
Lake Buena Vista, Florida, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4375-8
PROCEEDINGS PAPER
CPG-Controlled Frontal Biped Model for the Evaluation of Pathological Gait Available to Purchase
Betsy V. Hunter,
Betsy V. Hunter
Northwestern University, Evanston, IL
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Yasin Y. Dhaher
Yasin Y. Dhaher
Northwestern University Rehabilitation Institute of Chicago, Chicago, IL
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Betsy V. Hunter
Northwestern University, Evanston, IL
Yasin Y. Dhaher
Northwestern University Rehabilitation Institute of Chicago, Chicago, IL
Paper No:
IMECE2009-12966, pp. 383-386; 4 pages
Published Online:
July 8, 2010
Citation
Hunter, BV, & Dhaher, YY. "CPG-Controlled Frontal Biped Model for the Evaluation of Pathological Gait." Proceedings of the ASME 2009 International Mechanical Engineering Congress and Exposition. Volume 2: Biomedical and Biotechnology Engineering. Lake Buena Vista, Florida, USA. November 13–19, 2009. pp. 383-386. ASME. https://doi.org/10.1115/IMECE2009-12966
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