0
Research Papers

Synthesis of a Pattern Generation Mechanism for Gait Rehabilitation

[+] Author and Article Information
Zhiming Ji1

Department of Mechanical Engineering, New Jersey Institute of Technology, Newark, NJ 07102ji@njit.edu

Yazan Manna

Department of Mechanical Engineering, New Jersey Institute of Technology, Newark, NJ 07102

1

Corresponding author.

J. Med. Devices 2(3), 031004 (Sep 04, 2008) (8 pages) doi:10.1115/1.2975964 History: Received December 18, 2007; Revised July 24, 2008; Published September 04, 2008

Gait training is a major part of neurological rehabilitation. Robotic gait training systems provide paraplegic patients with consistent, labor-saving, and adjustable physical therapy over traditional manual trainings. However the high cost and social-technical concerns on safe operation currently limit their availability to only a few large rehabilitation institutions. This paper describes the synthesis of a linkage mechanism for gait pattern generation in a sagittal plane. The synthesis of the mechanism starts with the definition of a closed ankle trajectory obtained from normative gait data. The synthesis process we developed includes (1) construction of the desired ankle trajectory, (2) formulation of an objective function to be used for linkage optimization, (3) development of a procedure for transforming an initial guess to a starting set of design variables for optimization, and (4) development of a point-matching process needed for implementation. A set of stature-referenced parameters was successfully produced for a crank-rocker mechanism to generate the desired gait path. A simple linkage mechanism can be used as the pattern generator in a gait training system, and the presented process has been used to synthesize a linkage for a specific gait pattern.

FIGURES IN THIS ARTICLE
<>
Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Example of gait data, which is generated with data obtained from Clinical Gait Analysis Normative Gait Database (28)

Grahic Jump Location
Figure 2

Schematics of gait kinematics

Grahic Jump Location
Figure 3

Ankle trajectory: the open ends of the path are shown by the zoomed in region of the path as an inset

Grahic Jump Location
Figure 4

Design parameters of a crank-rocker mechanism

Grahic Jump Location
Figure 6

Coupler curve generated with the starting set of linkage parameters

Grahic Jump Location
Figure 7

Path generated with the resulting set of link parameters produced by search

Grahic Jump Location
Figure 8

Joint angles corresponding to the path generated in Fig. 7 by the designed linkage

Grahic Jump Location
Figure 9

Crank displacement for gait timing

Grahic Jump Location
Figure 10

Conceptual design of the linkage mechanism

Grahic Jump Location
Figure 11

Conceptual design of the gait rehabilitation system

Grahic Jump Location
Figure 12

Samples of the motion simulation of the gait rehabilitation system

Grahic Jump Location
Figure 5

Coupler curve generated with the initial set of linkage parameters

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In