Search results for: gait trainer
65 A Brain Controlled Robotic Gait Trainer for Neurorehabilitation
Authors: Qazi Umer Jamil, Abubakr Siddique, Mubeen Ur Rehman, Nida Aziz, Mohsin I. Tiwana
Abstract:This paper discusses a brain controlled robotic gait trainer for neurorehabilitation of Spinal Cord Injury (SCI) patients. Patients suffering from Spinal Cord Injuries (SCI) become unable to execute motion control of their lower proximities due to degeneration of spinal cord neurons. The presented approach can help SCI patients in neuro-rehabilitation training by directly translating patient motor imagery into walkers motion commands and thus bypassing spinal cord neurons completely. A non-invasive EEG based brain-computer interface is used for capturing patient neural activity. For signal processing and classification, an open source software (OpenVibe) is used. Classifiers categorize the patient motor imagery (MI) into a specific set of commands that are further translated into walker motion commands. The robotic walker also employs fall detection for ensuring safety of patient during gait training and can act as a support for SCI patients. The gait trainer is tested with subjects, and satisfactory results were achieved.
Keywords: Brain Computer Interface (BCI), gait trainer, Spinal Cord Injury (SCI), neurorehabilitation.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1051
64 Implementation of Parallel Interface for Microprocessor Trainer
Authors: Moe Moe Htun, Khin Htar Nwe
Abstract:In this paper, parallel interface for microprocessor trainer was implemented. A programmable parallel–port device such as the IC 8255A is initialized for simple input or output and for handshake input or output by choosing kinds of modes. The hardware connections and the programs can be used to interface microprocessor trainer and a personal computer by using IC 8255A. The assembly programs edited on PC-s editor can be downloaded to the trainer.
Keywords: Parallel I/O ports, parallel interface, trainer, two 8255 ICs.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3044
63 Adaptive Gait Pattern Generation of Biped Robot based on Human's Gait Pattern Analysis
Authors: Seungsuk Ha, Youngjoon Han, Hernsoo Hahn
This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.
Keywords: Biped robot, gait pattern, genetic algorithm.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2167
62 Investigation of New Gait Representations for Improving Gait Recognition
Authors: Chirawat Wattanapanich, Hong Wei
This study presents new gait representations for improving gait recognition accuracy on cross gait appearances, such as normal walking, wearing a coat and carrying a bag. Based on the Gait Energy Image (GEI), two ideas are implemented to generate new gait representations. One is to append lower knee regions to the original GEI, and the other is to apply convolutional operations to the GEI and its variants. A set of new gait representations are created and used for training multi-class Support Vector Machines (SVMs). Tests are conducted on the CASIA dataset B. Various combinations of the gait representations with different convolutional kernel size and different numbers of kernels used in the convolutional processes are examined. Both the entire images as features and reduced dimensional features by Principal Component Analysis (PCA) are tested in gait recognition. Interestingly, both new techniques, appending the lower knee regions to the original GEI and convolutional GEI, can significantly contribute to the performance improvement in the gait recognition. The experimental results have shown that the average recognition rate can be improved from 75.65% to 87.50%.
Keywords: Convolutional image, lower knee, gait.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 711
61 Analysis of the Gait Characteristics of Soldier between the Normal and Loaded Gait
Authors: Ji-il Park, Min Kyu Yu, Jong-woo Lee, Sam-hyeon Yoo
Abstract:The purpose of this research is to analyze the gait strategy between the normal and loaded gait. To this end, five male participants satisfied two conditions: the normal and loaded gait (backpack load 25.2 kg). As expected, results showed that additional loads elicited not a proportional increase in vertical and shear ground reaction force (GRF) parameters but also increase of the impulse, momentum and mechanical work. However, in case of the loaded gait, the time duration of the double support phase was increased unexpectedly. It is because the double support phase which is more stable than the single support phase can reduce instability of the loaded gait. Also, the directions of the pre-collision and after-collision were moved upward and downward compared to the normal gait. As a result, regardless of the additional backpack load, the impulse-momentum diagram during the step-to-step transition was maintained such as the normal gait. It means that human walk efficiently to keep stability and minimize total net works in case of the loaded gait.
Keywords: Normal gait, loaded gait, impulse, collision, gait analysis, mechanical work, backpack load.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1126
60 The Current State of Human Gait Simulator Development
Authors: V. Musalimov, I. Stepanov, Y. Monahov, A. Safonov
Abstract:This report examines the current state of human gait simulator development based on the human hip joint model. This unit will create a database of human gait types, useful for setting up and calibrating Mechano devices, as well as the creation of new systems of rehabilitation, exoskeletons and walking robots. The system has many opportunities to configure the dimensions and stiffness, while maintaining relative simplicity.
Keywords: Hip joint, human gait, physiotherapy, simulation.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1169
59 Lower energy Gait Pattern Generation in 5-Link Biped Robot Using Image Processing
Authors: Byounghyun Kim, Youngjoon Han, Hernsoo Hahn
Abstract:The purpose of this study is to find natural gait of biped robot such as human being by analyzing the COG (Center Of Gravity) trajectory of human being's gait. It is discovered that human beings gait naturally maintain the stability and use the minimum energy. This paper intends to find the natural gait pattern of biped robot using the minimum energy as well as maintaining the stability by analyzing the human's gait pattern that is measured from gait image on the sagittal plane and COG trajectory on the frontal plane. It is not possible to apply the torques of human's articulation to those of biped robot's because they have different degrees of freedom. Nonetheless, human and 5-link biped robots are similar in kinematics. For this, we generate gait pattern of the 5-link biped robot by using the GA algorithm of adaptation gait pattern which utilize the human's ZMP (Zero Moment Point) and torque of all articulation that are measured from human's gait pattern. The algorithm proposed creates biped robot's fluent gait pattern as that of human being's and to minimize energy consumption because the gait pattern of the 5-link biped robot model is modeled after consideration about the torque of human's each articulation on the sagittal plane and ZMP trajectory on the frontal plane. This paper demonstrate that the algorithm proposed is superior by evaluating 2 kinds of the 5-link biped robot applied to each gait patterns generated both in the general way using inverse kinematics and in the special way in which by considering visuality and efficiency.
Keywords: 5-link biped robot, gait pattern, COG (Center OfGravity), ZMP (Zero Moment Point).Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1785
58 Gait Recognition System: Bundle Rectangle Approach
Authors: Edward Guillen, Daniel Padilla, Adriana Hernandez, Kenneth Barner
Abstract:Biometrics methods include recognition techniques such as fingerprint, iris, hand geometry, voice, face, ears and gait. The gait recognition approach has some advantages, for example it does not need the prior concern of the observed subject and it can record many biometric features in order to make deeper analysis, but most of the research proposals use high computational cost. This paper shows a gait recognition system with feature subtraction on a bundle rectangle drawn over the observed person. Statistical results within a database of 500 videos are shown.
Keywords: Autentication, Biometrics, Gait Recognition, Human Identification, Security.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1766
57 Train the Trainer: The Bricks in the Learning Community Scaffold of Professional Development
Authors: S. Pancucci
Abstract:Professional development is the focus of this study. It reports on questionnaire data that examined the perceived effectiveness of the Train the Trainer model of technology professional development for elementary teachers. Eighty-three selected teachers called Information Technology Coaches received four half-day and one after-school in-service sessions. Subsequently, coaches shared the information and skills acquired during training with colleagues. Results indicated that participants felt comfortable as Information Technology Coaches and felt well prepared because of their technological professional development. Overall, participants perceived the Train the Trainer model to be effective. The outcomes of this study suggest that the use of the Train the Trainer model, a known professional development model, can be an integral and interdependent component of the newer more comprehensive learning community professional development model.
Keywords: change, education, learning community, professional development, school improvement, technology coach, Train the Trainer.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2467
56 Gait Biometric for Person Re-Identification
Authors: Lavanya Srinivasan
Biometric identification is to identify unique features in a person like fingerprints, iris, ear, and voice recognition that need the subject's permission and physical contact. Gait biometric is used to identify the unique gait of the person by extracting moving features. The main advantage of gait biometric to identify the gait of a person at a distance, without any physical contact. In this work, the gait biometric is used for person re-identification. The person walking naturally compared with the same person walking with bag, coat and case recorded using long wave infrared, short wave infrared, medium wave infrared and visible cameras. The videos are recorded in rural and in urban environments. The pre-processing technique includes human identified using You Only Look Once, background subtraction, silhouettes extraction and synthesis Gait Entropy Image by averaging the silhouettes. The moving features are extracted from the Gait Entropy Energy Image. The extracted features are dimensionality reduced by the Principal Component Analysis and recognized using different classifiers. The comparative results with the different classifier show that Linear Discriminant Analysis outperform other classifiers with 95.8% for visible in the rural dataset and 94.8% for longwave infrared in the urban dataset.
Keywords: biometric, gait, silhouettes, You Only Look OnceProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 305
55 Analysis of the Loaded Gait Subjected to the Trunk Flexion Change
Authors: Ji-il Park, Donghan Koo, Hyungtae Seo, Jihyuk Park, Heewon Park, Sukyung Park, Kyung-Soo Kim, and Soohyun Kim
Abstract:In the paper, the energetic features of the loaded gait are newly analyzed depending on the trunk flexion change. To investigate the loaded gait, walking experiments are performed for five subjects and, the ground reaction forces and kinematic data are measured. Based on these information, we compute the impulse, momentum and mechanical works done on the center of body mass, through the trunk flexion change. As a result, it is shown that the trunk flexion change does not affect the impulses and momentums during the step-to-step transition as well. However, the direction of the pre-collision momentum does change depending on the trunk flexion change, which is degenerated just after (or during) the collision period.
Keywords: Loaded gait, collision, impulse, gravity, heel strike, push-off, gait analysis.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2087
54 Kinematic Gait Analysis of Upper and Lower Limbs Joints in Hemiplegic Children
Authors: Zeinab A.Hussein, Manal S. Abd El-Wahab, Shorouk A. W. El-Shennawy
Abstract:Children with hemiplgic cerebral palsy often walk with diminished reciprocal arm swing so the purpose of this study was to describe kinematic characteristics in children with hemiplegic cerebral palsy (CP) during the gait suphases, and find if there is a correlation between upper(shoulder and elbow) and lower(hip, knee, and ankle) limb joints either in involved or uninvolved.48 children with hemiplegic cerebral palsy (18boys, 30girls) with an average age of (5.1±0.87) years were selected randomly to evaluate joint angles during gait by 3D motion analysis system with 6 pro reflex cameras in a sagittal plane for both sides of the body. The results showed increased shoulder and elbow flexion, increased hip angular displacement, decreased knee and ankle arcs during gait cycle, also there is correlation between shoulder and elbow to hip, knee, and ankle joints during various subphases of gait.
Keywords: Cerebral palsy, Gait, Hemiplegia, Motion analysis.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2241
53 Information Fusion for Identity Verification
Authors: Girija Chetty, Monica Singh
In this paper we propose a novel approach for ascertaining human identity based on fusion of profile face and gait biometric cues The identification approach based on feature learning in PCA-LDA subspace, and classification using multivariate Bayesian classifiers allows significant improvement in recognition accuracy for low resolution surveillance video scenarios. The experimental evaluation of the proposed identification scheme on a publicly available database  showed that the fusion of face and gait cues in joint PCA-LDA space turns out to be a powerful method for capturing the inherent multimodality in walking gait patterns, and at the same time discriminating the person identity..
Keywords: Biometrics, gait recognition, PCA, LDA, Eigenface, Fisherface, Multivariate Gaussian ClassifierProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1669
52 Multi-View Neural Network Based Gait Recognition
Authors: Saeid Fazli, Hadis Askarifar, Maryam Sheikh Shoaie
Abstract:Human identification at a distance has recently gained growing interest from computer vision researchers. Gait recognition aims essentially to address this problem by identifying people based on the way they walk . Gait recognition has 3 steps. The first step is preprocessing, the second step is feature extraction and the third one is classification. This paper focuses on the classification step that is essential to increase the CCR (Correct Classification Rate). Multilayer Perceptron (MLP) is used in this work. Neural Networks imitate the human brain to perform intelligent tasks .They can represent complicated relationships between input and output and acquire knowledge about these relationships directly from the data . In this paper we apply MLP NN for 11 views in our database and compare the CCR values for these views. Experiments are performed with the NLPR databases, and the effectiveness of the proposed method for gait recognition is demonstrated.
Keywords: Human motion analysis, biometrics, gait recognition, principal component analysis, MLP neural network.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1994
51 Chase Trainer Exercise Program in Athlete with Unilateral Patellofemoral Pain Syndrome (PFPS)
Authors: Asha Hasnimy Mohd Hashim, Lee Ai Choo
We investigated the effects of modified preprogrammed training mode Chase Trainer from Balance Trainer (BT3, HurLab, Tampere, Finland) on athlete who experienced unilateral Patellofemoral Pain Syndrome (PFPS). Twenty-seven athletes with mean age= 14.23 ±1.31 years, height = 164.89 ± 7.85 cm, weight = 56.94 ± 9.28 kg were randomly assigned to two groups: experiment (EG; n = 14) and injured (IG; n = 13). EG performed a series of Chase Trainer program which required them to shift their body weight at different directions, speeds and angle of leaning twice a week for duration of 8 weeks. The static postural control and perceived pain level measures were taken at baseline, after 6 weeks and 8 weeks of training. There was no significant difference in any of tested variables between EG and IG before and after 6-week the intervention period. However, after 8-week of training, the postural control (eyes open) and perceived pain level of EG improved compared to IG (p<0.05). The postural control with eyes closed of EG improved (p<0.05) but the values were not significantly different compared to IG after training. The results suggest that using Chase Trainer exercise program it is possible to improve individual postural control and decreased perceived pain level in athlete with unilateral Patellofemoral Pain Syndrome (PFPS).
Keywords: Patellofemoral Pain Syndrome, perceived pain level, postural control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1357
50 Advanced Jet Trainer and Light Attack Aircraft Selection Using Composite Programming in Multiple Criteria Decision Making Analysis Method
Authors: C. Ardil
In this paper, composite programming is discussed for aircraft evaluation and selection problem using the multiple criteria decision analysis method. The decision criteria and aircraft alternatives were identified from the literature review. The importance of criteria weights was determined by the standard deviation method. The proposed model is applied to a practical decision problem for evaluating and selecting advanced jet trainer and light attack aircraft. The proposed technique gives robust and efficient results in modeling multiple criteria decisions. As a result of composite programming analysis, Hürjet, an advanced jet trainer and light attack aircraft alternative (a3), was chosen as the most suitable aircraft candidate.
Keywords: composite programming, additive weighted model, multiplicative weighted model, multiple criteria decision making analysis, MCDMA, aircraft selection, advanced jet trainer and light attack aircraft, M-346, FA-50, HürjetProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 351
49 Response of Diaphragmatic Excursion to Inspiratory Muscle Trainer Post Thoracotomy
Authors: H. M. Haytham, E. A. Azza, E.S. Mohamed, E. G. Nesreen
Thoracotomy is a great surgery that has serious pulmonary complications, so purpose of this study was to determine the response of diaphragmatic excursion to inspiratory muscle trainer post thoracotomy. Thirty patients of both sexes (16 men and 14 women) with age ranged from 20 to 40 years old had done thoracotomy participated in this study. The practical work was done in cardiothoracic department, Kasr-El-Aini hospital at faculty of medicine for individuals 3 days Post operatively. Patients were assigned into two groups: group A (study group) included 15 patients (8 men and 7 women) who received inspiratory muscle training by using inspiratory muscle trainer for 20 minutes and routine chest physiotherapy (deep breathing, cough and early ambulation) twice daily, 3 days per week for one month. Group B (control group) included 15 patients (8 men and 7 women) who received the routine chest physiotherapy only (deep breathing, cough and early ambulation) twice daily, 3 days per week for one month. Ultrasonography was used to evaluate the changes in diaphragmatic excursion before and after training program. Statistical analysis revealed a significant increase in diaphragmatic excursion in the study group (59.52%) more than control group (18.66%) after using inspiratory muscle trainer post operatively in patients post thoracotomy. It was concluded that the inspiratory muscle training device increases diaphragmatic excursion in patients post thoracotomy through improving inspiratory muscle strength and improving mechanics of breathing and using of inspiratory muscle trainer as a method of physical therapy rehabilitation to reduce post-operative pulmonary complications post thoracotomy.
Keywords: Diaphragmatic excursion, inspiratory muscle trainer, ultrasonography, thoracotomy.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1436
48 The Effect of Fixing Kinesiology Tape onto the Plantar Surface during the Loading Phase of Gait
Authors: Albert K. Chong, Jasim Ahmed Ali Al-Baghdadi, Peter B. Milburn
Precise capture of plantar 3D surface of the foot at the loading gait phases on rigid substrates was found to be valuable for the assessment of the physiology, health and problems of the feet. Photogrammetry, a precision 3D spatial data capture technique is suitable for this type of dynamic application. In this research, the technique is utilised to study the plantar deformation as a result of having a strip of kinesiology tape on the plantar surface during the loading phase of gait. For this pilot study, one healthy adult male subject was recruited under the University’s human research ethics guidelines for this preliminary study. The 3D plantar deformation data with and without applying the tape were analysed. The results and analyses are presented together with detailed findings.
Keywords: Gait, human plantar, loading, Kinesiology Tape.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1805
47 Effect of On-Demand Cueing on Freezing of Gait in Parkinson’s Patients
Authors: Rosemarie Velik
Gait disturbance, particularly freezing of gait (FOG), is a phenomenon that is common in Parkinson’s patients and significantly contributes to a loss of function and independence. Walking performance and number of freezing episodes have been known to respond favorably to sensory cues of different modalities. However, a topic that has so far barely been touched is how to resolve freezing episodes via sensory cues once they have appeared. In this study, we analyze the effect of five different sensory cues on the duration of freezing episodes: (1) vibratory alert, (2) auditory alert, (3) vibratory rhythm, (4) auditory rhythm, (5) visual cue in form of parallel lines projected to the floor. The motivation for this study is to investigate the possibility of the design of a gait assistive device for Parkinson’s patients. Test subjects were 7 Parkinson’s patients regularly suffering from FOG. The patients had to repeatedly walk a pre-defined course and cues were triggered always 2 s after freezing onset. The effect was analyzed via experimental measurements and patient interviews. The measurements showed that all 5 sensory cues led to a decrease of the average duration of freezing: baseline (7.9s), vibratory alert (7.1s), auditory alert (6.7s), auditory rhythm (6.4s), vibratory rhythm (6.3s), and visual cue (5.3s). Nevertheless, interestingly, patients subjectively evaluated the audio alert and vibratory signals to have a significantly better effect for reducing their freezing duration than the visual cue.
Keywords: Auditory cueing, freezing of gait, gait assistance, Parkinson’s disease, vibratory cueing, visual cueingProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2910
46 Analysis of the Energetic Feature of the Loaded Gait with Variation of the Trunk Flexion Angle
Authors: Ji-il Park, Hyungtae Seo, Jihyuk Park, Kwang jin Choi, Kyung-Soo Kim, Soohyun Kim
The purpose of the research is to investigate the energetic feature of the backpack load on soldier’s gait with variation of the trunk flexion angle. It is believed that the trunk flexion variation of the loaded gait may cause a significant difference in the energy cost which is often in practice in daily life. To this end, seven healthy Korea military personnel participated in the experiment and are tested under three different walking postures comprised of the small, natural and large trunk flexion. There are around 5 degree differences of waist angle between each trunk flexion. The ground reaction forces were collected from the force plates and motion kinematic data are measured by the motion capture system. Based on these data, the impulses, momentums and mechanical works done on the center of body mass (COM) during the double support phase were computed. The result shows that the push-off and heel strike impulse are not relevant to the trunk flexion change, however the mechanical work by the push-off and heel strike were changed by the trunk flexion variation. It is because the vertical velocity of the COM during the double support phase is increased significantly with an increase in the trunk flexion. Therefore, we can know that the gait efficiency of the loaded gait depends on the trunk flexion angle. Also, even though the gravitational impulse and pre-collision momentum are changed by the trunk flexion variation, the after-collision momentum is almost constant regardless of the trunk flexion variation.
Keywords: Loaded gait, collision, impulse, gravity, heel strike, push-off, gait analysis.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1721
45 Trainer Aircraft Selection Using Preference Analysis for Reference Ideal Solution (PARIS)
Authors: C. Ardil
This article presents a multiple criteria evaluation for a trainer aircraft selection problem using "preference analysis for reference ideal solution (PARIS)” approach. The available relevant literature points to the use of multiple criteria decision making analysis (MCDMA) methods for the problem of trainer aircraft selection, which often involves conflicting multiple criteria. Therefore, this MCDMA study aims to propose a robust systematic integrated framework focusing on the trainer aircraft selection problem. For this purpose, an integrated preference analysis approach based the mean weight and entropy weight procedures with PARIS, and TOPSIS was used for a MCDMA compensating solution. In this study, six trainer aircraft alternatives were evaluated according to six technical decision criteria, and data were collected from the current relevant literature. As a result, the King Air C90GTi alternative was identified as the most suitable trainer aircraft alternative. In order to verify the stability and accuracy of the results obtained, comparisons were made with existing MCDMA methods during the sensitivity and validity analysis process.The results of the application were further validated by applying the comparative analysis-based PARIS, and TOPSIS method. The proposed integrated MCDMA systematic structure is also expected to address the issues encountered in the aircraft selection process. Finally, the analysis results obtained show that the proposed MCDMA method is an effective and accurate tool that can help analysts make better decisions.
Keywords: aircraft, trainer aircraft selection, multiple criteria decision making, multiple criteria decision making analysis, mean weight, entropy weight, MCDMA, PARIS, TOPSISProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 309
44 The Relation Trainer-Personal Development Group from the Perspective of Therapeutic Success and Therapeutic Failure
Authors: Loredana Drobot
A therapeutic success is the aim of any therapeutic intervention, but a therapeutic failure is the other side of the same coin. The purpose of this study is to present the activity of a personal development group, composed of 14 participants (psychologists, doctors and a priest) registered for a 2 days course of integrative psychotherapy. The objectives of this study are centred on: the management of the personal development group breaking moment realized by the therapist/trainer; the analysis of the trainer’s personal situation and of some group participants and the brief presentation of the main work methods applied on participants in the repairing of the therapeutic relation and in the counter transfer management. The therapist’s orientation is an integrative one and the demarche realized includes T.A. techniques, role play, Gestalt and family systemic psychotherapy. The conclusions obtained represent landmarks for the future activity within that group and strengthen the therapeutic relation with the group.
Keywords: Therapeutic success, therapeutic failure.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1428
43 Gaits Stability Analysis for a Pneumatic Quadruped Robot Using Reinforcement Learning
Authors: Soofiyan Atar, Adil Shaikh, Sahil Rajpurkar, Pragnesh Bhalala, Aniket Desai, Irfan Siddavatam
Deep reinforcement learning (deep RL) algorithms leverage the symbolic power of complex controllers by automating it by mapping sensory inputs to low-level actions. Deep RL eliminates the complex robot dynamics with minimal engineering. Deep RL provides high-risk involvement by directly implementing it in real-world scenarios and also high sensitivity towards hyperparameters. Tuning of hyperparameters on a pneumatic quadruped robot becomes very expensive through trial-and-error learning. This paper presents an automated learning control for a pneumatic quadruped robot using sample efficient deep Q learning, enabling minimal tuning and very few trials to learn the neural network. Long training hours may degrade the pneumatic cylinder due to jerk actions originated through stochastic weights. We applied this method to the pneumatic quadruped robot, which resulted in a hopping gait. In our process, we eliminated the use of a simulator and acquired a stable gait. This approach evolves so that the resultant gait matures more sturdy towards any stochastic changes in the environment. We further show that our algorithm performed very well as compared to programmed gait using robot dynamics.
Keywords: model-based reinforcement learning, gait stability, supervised learning, pneumatic quadrupedProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 395
42 Dynamic Time Warping in Gait Classificationof Motion Capture Data
Authors: Adam Świtoński, Agnieszka Michalczuk, Henryk Josiński, Andrzej Polański, KonradWojciechowski
The method of gait identification based on the nearest neighbor classification technique with motion similarity assessment by the dynamic time warping is proposed. The model based kinematic motion data, represented by the joints rotations coded by Euler angles and unit quaternions is used. The different pose distance functions in Euler angles and quaternion spaces are considered. To evaluate individual features of the subsequent joints movements during gait cycle, joint selection is carried out. To examine proposed approach database containing 353 gaits of 25 humans collected in motion capture laboratory is used. The obtained results are promising. The classifications, which takes into consideration all joints has accuracy over 91%. Only analysis of movements of hip joints allows to correctly identify gaits with almost 80% precision.
Keywords: Biometrics, dynamic time warping, gait identification, motion capture, time series classification, quaternion distance functions, attribute ranking.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2494
41 Biomechanical Findings in Patients with Bipartite Medial Cuneiforms
Authors: Aliza Lee, Mark Wilt, John Bonk, Scott Floyd, Bradley Hoffman, Karen Uchmanowicz
Bipartite medial cuneiforms are relatively rare but may play a significant role in biomechanical and gait abnormalities. It is believed that a bipartite medial cuneiform may alter the available range of motion due to its larger morphological variant, thus limiting the metatarsal plantarflexion needed to achieve adequate hallux dorsiflexion for normal gait. Radiographic and clinical assessment were performed on two patients who reported with foot pain along the first ray. Both patients had visible bipartite medial cuneiforms on MRI. Using gait plate and Metascan ™ analysis, both were noted to have four measurements far beyond the expected range. Medial and lateral heel peak pressure, hallux peak pressure, and 1st metatarsal peak pressure were all noted to be increased. These measurements are believed to be increased due to the hindrance placed on the available ROM of the first ray by the increased size of the medial cuneiform. A larger patient population would be needed to fully understand this developmental anomaly.
Keywords: Bipartite medial cuneiforms, cuneiform, developmental anomaly, gait abnormality.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 240
40 Real Time Force Sensing Mat for Human Gait Analysis
Authors: Darwin Gouwanda, S. M. N. Arosha Senanayake, M. M. Danushka Ranjana Marasinghe, Mervin Chandrapal, Jeya Mithra Kumar, Tung Mun Hon, Yulius
Abstract:This paper presents a real time force sensing instrument that is designed for human gait analysis purposes. This instrument mainly consists of three main elements: the force sensing mat, signal conditioning and switching circuit and data acquisition device. In order to control and to process the incoming signals from the force sensing mat, Force-Logger and Force-Reloader program are developed using Labview 8.0. This paper describes the architecture of the force sensing mat, signal conditioning and switching circuit and the real time streaming of the incoming data from the force sensing mat.
Keywords: Force platform, Force sensing resistor, human gait analysisProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2355
39 Video-Based System for Support of Robot-Enhanced Gait Rehabilitation of Stroke Patients
Authors: Matjaž Divjak, Simon Zelič, Aleš Holobar
We present a dedicated video-based monitoring system for quantification of patient’s attention to visual feedback during robot assisted gait rehabilitation. Two different approaches for eye gaze and head pose tracking are tested and compared. Several metrics for assessment of patient’s attention are also presented. Experimental results with healthy volunteers demonstrate that unobtrusive video-based gaze tracking during the robot-assisted gait rehabilitation is possible and is sufficiently robust for quantification of patient’s attention and assessment of compliance with the rehabilitation therapy.
Keywords: Video-based attention monitoring, gaze estimation, stroke rehabilitation, user compliance.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1620
38 An Inflatable and Foldable Knee Exosuit Based on Intelligent Management of Biomechanical Energy
Authors: Jing Fang, Yao Cui, Mingming Wang, Shengli She, Jianping Yuan
Wearable robotics is a potential solution in aiding gait rehabilitation of lower limbs dyskinesia patients, such as knee osteoarthritis or stroke afflicted patients. Many wearable robots have been developed in the form of rigid exoskeletons, but their bulk devices, high cost and control complexity hinder their popularity in the field of gait rehabilitation. Thus, the development of a portable, compliant and low-cost wearable robot for gait rehabilitation is necessary. Inspired by Chinese traditional folding fans and balloon inflators, the authors present an inflatable, foldable and variable stiffness knee exosuit (IFVSKE) in this paper. The pneumatic actuator of IFVSKE was fabricated in the shape of folding fans by using thermoplastic polyurethane (TPU) fabric materials. The geometric and mechanical properties of IFVSKE were characterized with experimental methods. To assist the knee joint smartly, an intelligent control profile for IFVSKE was proposed based on the concept of full-cycle energy management of the biomechanical energy during human movement. The biomechanical energy of knee joints in a walking gait cycle of patients could be collected and released to assist the joint motion just by adjusting the inner pressure of IFVSKE. Finally, a healthy subject was involved to walk with and without the IFVSKE to evaluate the assisting effects.
Keywords: Biomechanical energy management, gait rehabilitation, knee exosuit, wearable robotics.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 964
37 Neural Networks for Distinguishing the Performance of Two Hip Joint Implants on the Basis of Hip Implant Side and Ground Reaction Force
Authors: L. Parisi
In this research work, neural networks were applied to classify two types of hip joint implants based on the relative hip joint implant side speed and three components of each ground reaction force. The condition of walking gait at normal velocity was used and carried out with each of the two hip joint implants assessed. Ground reaction forces’ kinetic temporal changes were considered in the first approach followed but discarded in the second one. Ground reaction force components were obtained from eighteen patients under such gait condition, half of which had a hip implant type I-II, whilst the other half had the hip implant, defined as type III by Orthoload®. After pre-processing raw gait kinetic data and selecting the time frames needed for the analysis, the ground reaction force components were used to train a MLP neural network, which learnt to distinguish the two hip joint implants in the abovementioned condition. Further to training, unknown hip implant side and ground reaction force components were presented to the neural networks, which assigned those features into the right class with a reasonably high accuracy for the hip implant type I-II and the type III. The results suggest that neural networks could be successfully applied in the performance assessment of hip joint implants.
Keywords: Kinemic gait data, Neural networks, Hip joint implant, Hip arthroplasty, Rehabilitation Engineering.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1680
36 Real Time Multi-Sensory Force Sensing Mat for Sports Biomechanics and Human Gait Analysis
Authors: D. Gouwanda, S. M. N. A. Senanayake
Abstract:This paper presents a real time force sensing instrument that is designed for human gait analysis purposes. It is capable of recording and monitoring ground reaction forces exerted by human foot during various activities such as walking, running and jumping in real time. In overall, force sensing mat mainly consists of three elements: the force sensing mat, signal conditioning circuit and data acquisition device. Force sensing mat is the mat that contains an array of force sensing elements. To control and process the incoming signal from the force sensing mat, Force-Logger and Force-Reloader are developed using National Instrument Labview. This paper describes the architecture of the force sensing mat, signal conditioning circuit and the real time streaming of the incoming data from the force sensing mat. Additionally, a preliminary experiment dataset is presented in this paper.
Keywords: Force platform, force sensing resistor, human gait analysis.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2174