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Parametric generation of three-dimensional gait for robot-assisted rehabilitation
For robot-assisted rehabilitation and assessment of patients with motor dysfunction, the parametric generation of their normal gait as the input for the robot is essential to match with the features of the patient to a greater extent. In addition, the gait needs to be in three-dimensional space, whi...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
The Company of Biologists Ltd
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7063668/ https://www.ncbi.nlm.nih.gov/pubmed/32001490 http://dx.doi.org/10.1242/bio.047332 |
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author | Shi, Di Zhang, Wuxiang Ding, Xilun Sun, Lei |
author_facet | Shi, Di Zhang, Wuxiang Ding, Xilun Sun, Lei |
author_sort | Shi, Di |
collection | PubMed |
description | For robot-assisted rehabilitation and assessment of patients with motor dysfunction, the parametric generation of their normal gait as the input for the robot is essential to match with the features of the patient to a greater extent. In addition, the gait needs to be in three-dimensional space, which meets the physiological structure of the human better, rather than only on a sagittal plane. Thus, a method for the parametric generation of three-dimensional gait based on the influence of the motion parameters and structure parameters is presented. First, the three-dimensional gait kinematic of participants is collected, and trajectories of ankle joint angle and ankle center position are calculated. Second, for the trajectories, gait features are extracted including gait events indicating the physiological features of walking gait, in addition to extremes indicating the geometrical features of the trajectories. Third, regression models are derived after using leave-one-out cross-validation for model optimization. Finally, cubic splines are fitted between the predicted gait features to generate the trajectories for a full gait cycle. It is inferred that the generated curves match the measured curves well. The method presented herein gives an important reference for research into lower limb rehabilitation robots. |
format | Online Article Text |
id | pubmed-7063668 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | The Company of Biologists Ltd |
record_format | MEDLINE/PubMed |
spelling | pubmed-70636682020-03-11 Parametric generation of three-dimensional gait for robot-assisted rehabilitation Shi, Di Zhang, Wuxiang Ding, Xilun Sun, Lei Biol Open Research Article For robot-assisted rehabilitation and assessment of patients with motor dysfunction, the parametric generation of their normal gait as the input for the robot is essential to match with the features of the patient to a greater extent. In addition, the gait needs to be in three-dimensional space, which meets the physiological structure of the human better, rather than only on a sagittal plane. Thus, a method for the parametric generation of three-dimensional gait based on the influence of the motion parameters and structure parameters is presented. First, the three-dimensional gait kinematic of participants is collected, and trajectories of ankle joint angle and ankle center position are calculated. Second, for the trajectories, gait features are extracted including gait events indicating the physiological features of walking gait, in addition to extremes indicating the geometrical features of the trajectories. Third, regression models are derived after using leave-one-out cross-validation for model optimization. Finally, cubic splines are fitted between the predicted gait features to generate the trajectories for a full gait cycle. It is inferred that the generated curves match the measured curves well. The method presented herein gives an important reference for research into lower limb rehabilitation robots. The Company of Biologists Ltd 2020-03-05 /pmc/articles/PMC7063668/ /pubmed/32001490 http://dx.doi.org/10.1242/bio.047332 Text en © 2020. Published by The Company of Biologists Ltd http://creativecommons.org/licenses/by/4.0This is an Open Access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution and reproduction in any medium provided that the original work is properly attributed. |
spellingShingle | Research Article Shi, Di Zhang, Wuxiang Ding, Xilun Sun, Lei Parametric generation of three-dimensional gait for robot-assisted rehabilitation |
title | Parametric generation of three-dimensional gait for robot-assisted rehabilitation |
title_full | Parametric generation of three-dimensional gait for robot-assisted rehabilitation |
title_fullStr | Parametric generation of three-dimensional gait for robot-assisted rehabilitation |
title_full_unstemmed | Parametric generation of three-dimensional gait for robot-assisted rehabilitation |
title_short | Parametric generation of three-dimensional gait for robot-assisted rehabilitation |
title_sort | parametric generation of three-dimensional gait for robot-assisted rehabilitation |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7063668/ https://www.ncbi.nlm.nih.gov/pubmed/32001490 http://dx.doi.org/10.1242/bio.047332 |
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