The effect of directional inertias added to pelvis and ankle on gait
Identifieur interne : 001804 ( Main/Merge ); précédent : 001803; suivant : 001805The effect of directional inertias added to pelvis and ankle on gait
Auteurs : Jos H. Meuleman [Pays-Bas] ; Edwin Hf Van Asseldonk [Pays-Bas] ; Herman Van Der Kooij [Pays-Bas]Source :
- Journal of NeuroEngineering and Rehabilitation [ 1743-0003 ] ; 2013.
Abstract
Gait training robots should display a minimum added inertia in order to allow normal walking. The effect of inertias in specific directions is yet unknown. We set up two experiments to assess the effect of inertia in anteroposterior (AP) direction to the ankle and AP and mediolateral (ML) direction to the pelvis.
We developed an experimental setup to apply inertia in forward backward and or sideways directions. In two experiments nine healthy subjects walked on a treadmill at 1.5 km/h and 4.5 km/h with no load and with AP loads of 0.3, 1.55 and 3.5 kg to the left ankle in the first experiment and combinations of AP and ML loads on the pelvis (AP loads 0.7, 4.3 and 10.2 kg; ML loads 0.6, 2.3 and 5.3 kg). We recorded metabolic rate, EMG of major leg muscles, gait parameters and kinematics.
Adding 1.55 kg or more inertia to the ankle in AP direction increases the pelvis acceleration and decreases the foot acceleration in AP direction both at speeds of 4.5 km/h. Adding 3.5 kg of inertia to the ankle also increases the swing time as well as AP motions of the pelvis and head-arms-trunk (HAT) segment. Muscle activity remains largely unchanged.
Adding 10.2 kg of inertia to the pelvis in AP direction causes a significant decrease of the pelvis and HAT segment motions, particularly at high speeds. Also the sagittal back flexion increases. Lower values of AP inertia and ML inertias up to 5.3 kg had negligible effect.
In general the found effects are larger at high speeds.
We found that inertia up to 2 kg at the ankle or 6 kg added to the pelvis induced significant changes, but since these changes were all within the normal inter subject variability we considered these changes as negligible for application as rehabilitation robotics and assistive devices.
Url:
DOI: 10.1186/1743-0003-10-40
PubMed: 23597391
PubMed Central: 3644238
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Meuleman</name><affiliation wicri:level="1"><nlm:aff id="I1">Moog Robotics, Nieuw-Vennep, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Moog Robotics, Nieuw-Vennep</wicri:regionArea><wicri:noRegion>Nieuw-Vennep</wicri:noRegion></affiliation><affiliation wicri:level="4"><nlm:aff id="I2">Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Department of Biomechanical Engineering, University of Twente, Enschede</wicri:regionArea><orgName type="university">Université de Twente</orgName><placeName><settlement type="city">Enschede</settlement><region nuts="2">Overijssel</region></placeName></affiliation></author><author><name sortKey="Van Asseldonk, Edwin Hf" sort="Van Asseldonk, Edwin Hf" uniqKey="Van Asseldonk E" first="Edwin Hf" last="Van Asseldonk">Edwin Hf Van Asseldonk</name><affiliation wicri:level="4"><nlm:aff id="I2">Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Department of Biomechanical Engineering, University of Twente, Enschede</wicri:regionArea><orgName type="university">Université de Twente</orgName><placeName><settlement type="city">Enschede</settlement><region nuts="2">Overijssel</region></placeName></affiliation></author><author><name sortKey="Van Der Kooij, Herman" sort="Van Der Kooij, Herman" uniqKey="Van Der Kooij H" first="Herman" last="Van Der Kooij">Herman Van Der Kooij</name><affiliation wicri:level="4"><nlm:aff id="I2">Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Department of Biomechanical Engineering, University of Twente, Enschede</wicri:regionArea><orgName type="university">Université de Twente</orgName><placeName><settlement type="city">Enschede</settlement><region nuts="2">Overijssel</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="I3">Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Biomechanical Engineering, Delft University of Technology, Delft</wicri:regionArea><wicri:noRegion>Delft</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">23597391</idno><idno type="pmc">3644238</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3644238</idno><idno type="RBID">PMC:3644238</idno><idno type="doi">10.1186/1743-0003-10-40</idno><date when="2013">2013</date><idno type="wicri:Area/Pmc/Corpus">001264</idno><idno type="wicri:Area/Pmc/Curation">001264</idno><idno type="wicri:Area/Pmc/Checkpoint">000F67</idno><idno type="wicri:Area/Ncbi/Merge">002646</idno><idno type="wicri:Area/Ncbi/Curation">002646</idno><idno type="wicri:Area/Ncbi/Checkpoint">002646</idno><idno type="wicri:Area/Main/Merge">001804</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">The effect of directional inertias added to pelvis and ankle on gait</title><author><name sortKey="Meuleman, Jos H" sort="Meuleman, Jos H" uniqKey="Meuleman J" first="Jos H" last="Meuleman">Jos H. Meuleman</name><affiliation wicri:level="1"><nlm:aff id="I1">Moog Robotics, Nieuw-Vennep, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Moog Robotics, Nieuw-Vennep</wicri:regionArea><wicri:noRegion>Nieuw-Vennep</wicri:noRegion></affiliation><affiliation wicri:level="4"><nlm:aff id="I2">Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Department of Biomechanical Engineering, University of Twente, Enschede</wicri:regionArea><orgName type="university">Université de Twente</orgName><placeName><settlement type="city">Enschede</settlement><region nuts="2">Overijssel</region></placeName></affiliation></author><author><name sortKey="Van Asseldonk, Edwin Hf" sort="Van Asseldonk, Edwin Hf" uniqKey="Van Asseldonk E" first="Edwin Hf" last="Van Asseldonk">Edwin Hf Van Asseldonk</name><affiliation wicri:level="4"><nlm:aff id="I2">Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Department of Biomechanical Engineering, University of Twente, Enschede</wicri:regionArea><orgName type="university">Université de Twente</orgName><placeName><settlement type="city">Enschede</settlement><region nuts="2">Overijssel</region></placeName></affiliation></author><author><name sortKey="Van Der Kooij, Herman" sort="Van Der Kooij, Herman" uniqKey="Van Der Kooij H" first="Herman" last="Van Der Kooij">Herman Van Der Kooij</name><affiliation wicri:level="4"><nlm:aff id="I2">Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Department of Biomechanical Engineering, University of Twente, Enschede</wicri:regionArea><orgName type="university">Université de Twente</orgName><placeName><settlement type="city">Enschede</settlement><region nuts="2">Overijssel</region></placeName></affiliation><affiliation wicri:level="1"><nlm:aff id="I3">Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands</nlm:aff><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Biomechanical Engineering, Delft University of Technology, Delft</wicri:regionArea><wicri:noRegion>Delft</wicri:noRegion></affiliation></author></analytic><series><title level="j">Journal of NeuroEngineering and Rehabilitation</title><idno type="eISSN">1743-0003</idno><imprint><date when="2013">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>Gait training robots should display a minimum added inertia in order to allow normal walking. The effect of inertias in specific directions is yet unknown. We set up two experiments to assess the effect of inertia in anteroposterior (AP) direction to the ankle and AP and mediolateral (ML) direction to the pelvis.</p></sec><sec><title>Methods</title><p>We developed an experimental setup to apply inertia in forward backward and or sideways directions. In two experiments nine healthy subjects walked on a treadmill at 1.5 km/h and 4.5 km/h with no load and with AP loads of 0.3, 1.55 and 3.5 kg to the left ankle in the first experiment and combinations of AP and ML loads on the pelvis (AP loads 0.7, 4.3 and 10.2 kg; ML loads 0.6, 2.3 and 5.3 kg). We recorded metabolic rate, EMG of major leg muscles, gait parameters and kinematics.</p></sec><sec><title>Results & discussion</title><p>Adding 1.55 kg or more inertia to the ankle in AP direction increases the pelvis acceleration and decreases the foot acceleration in AP direction both at speeds of 4.5 km/h. Adding 3.5 kg of inertia to the ankle also increases the swing time as well as AP motions of the pelvis and head-arms-trunk (HAT) segment. Muscle activity remains largely unchanged.</p><p>Adding 10.2 kg of inertia to the pelvis in AP direction causes a significant decrease of the pelvis and HAT segment motions, particularly at high speeds. Also the sagittal back flexion increases. Lower values of AP inertia and ML inertias up to 5.3 kg had negligible effect.</p><p>In general the found effects are larger at high speeds.</p></sec><sec><title>Conclusions</title><p>We found that inertia up to 2 kg at the ankle or 6 kg added to the pelvis induced significant changes, but since these changes were all within the normal inter subject variability we considered these changes as negligible for application as rehabilitation robotics and assistive devices.</p></sec></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Colombo, G" uniqKey="Colombo G">G Colombo</name></author><author><name sortKey="Joerg, M" uniqKey="Joerg M">M Joerg</name></author><author><name sortKey="Schreier, R" uniqKey="Schreier R">R Schreier</name></author><author><name sortKey="Dietz, V" uniqKey="Dietz V">V Dietz</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Veneman, Jf" uniqKey="Veneman J">JF 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