Dynamic Analysis of a 3-Link Biped Model to Investigate the Rgo Assisted Paraplegic Gait

Nakhaee, Koorosh; Farahmand, Farzam

doi:10.1142/9789814291279_0136

Cited by 1 publication

(2 citation statements)

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“…This suggests that an improved gait pattern can be obtained by the paraplegic patients if they adopt a larger lateral bending manoeuvre at the trunk during the swing phase. This conclusion is in good agreement with our previous modelling study 20 indicating a major contribution for the trunk kinematics in the dynamics of the paraplegic locomotion. However, it needs more detailed modelling studies, as well as experimental investigations, to be verified.…”

Section: Discussionsupporting

confidence: 93%

“…Kagawa et al 19 addressed the relationship between the arm–crutch loading, leg restriction, and motor paralysis, and reported that large reaction forces occurred at the crutches when the ankle and knee joints were restricted. Nakhaee and Farahmand 20 developed a simple 3D three-segment model with five-degrees of freedom (DOF) to analyse the kinematics and dynamics of the paraplegic gait and showed that an individual with low lesion level might be able to walk using appropriately designed mechanical orthosis and trunk manoeuvres, without the need of a propulsion supply from the hands through crutches.…”

Section: Introductionmentioning

confidence: 99%

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Studying the effect of kinematical pattern on the mechanical performance of paraplegic gait with reciprocating orthosis

Nakhaee

Farahmand

Salarieh

2012

Proc Inst Mech Eng H

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Paraplegic users of mechanical walking orthoses, e.g. advanced reciprocating gait orthosis (ARGO), often face high energy expenditure and extreme upper body loading during locomotion. We studied the effect of kinematical pattern on the mechanical performance of paraplegic locomotion, in search for an improved gait pattern that leads to lower muscular efforts. A three-dimensional, four segment, six-degrees-of-freedom skeletal model of the advanced reciprocating gait orthosis-assisted paraplegic locomotion was developed based on the data acquired from an experimental study on a single subject. The effect of muscles was represented by ideal joint torque generators. A response surface analysis was performed on the model to determine the impact of the kinematical parameters on the resulting muscular efforts, characterized by net joint torques. Results indicated that a lateral bending manoeuvre at the trunk would facilitate the foot clearance by reducing the torque requirement of the whole body lateral tilting. For swing leg advancement, the trunk posterior bending manoeuvre was found to be more effective and efficient than the whole body axial rotation, owing to the coupled reciprocal action of the advanced reciprocating gait orthosis. It was hypothesized that a modified gait pattern, with larger trunk movements and no axial rotation, could improve the energy expenditure and upper body loading during advanced reciprocating gait orthosis-assisted locomotion. More detailed modelling and experimental studies are needed to verify this hypothesis and evaluate its potential effects on the soft tissue strains.

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Section: Discussionsupporting

confidence: 93%

Section: Introductionmentioning

confidence: 99%