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A hands-free interface has been developed to allow a single surgeon to control a locally operated forceps manipulating robot. It is based on the use of a pressure sensor sheet placed on the floor to measure temporal changes in the center of gravity of the operator's foot, in addition to the applied force. Pattern recognition was carried out during trials with endoscope specialists and students for...
Foot problem diagnosis is often made by using pressure mapping systems, unfortunately located and used in the laboratories. In the context of e-health and telemedicine for home monitoring of patients having foot problems, our focus is to present an acceptable system for daily use. We developed an ambulatory instrumented insole using 3 pressures sensors to visualize plantar pressure cartographies....
This paper provides an energy-harvesting, shoe-mounted system for medical sensing using piezoelectric transducers for generating power. The electronics are integrated inside a conventional consumer shoe, measuring the pressure of the wearer's foot exerted on the sole at six locations. The electronics are completely powered by the harvested energy from walking or running, generating 10–20 μJ of energy...
Flatfoot is a foot condition caused by the collapse of the medial arch of the foot, and it can result in problems such as severe pain, swelling, abnormal gait, and difficulty walking. Despite being a very common foot deformity, flatfoot is one of the least understood orthopaedic problems, and the opinions regarding its optimal treatment vary widely. In this paper, an FE model of a flatfoot is proposed...
The 2 and 6-minute walk tests (2–6MWT) are used by rehabilitation professionals as a measure of exercise capacity. Our research has produced a new 2–6MWT BlackBerry smartphone application (app) that can be used to run the 2–6MWT and also provide new information about how the person moves during the test. The smartphone is worn on a belt at the lower back to record phone sensor data while walking....
Small-scale hydraulics is ideal for powered human assistive devices including powered ankle foot orthoses because a large torque can be generated with an actuator that is small and light. A portable hydraulic ankle foot orthosis has been designed and is undergoing preliminary prototyping and engineering bench test evaluation. The device provides 90 Nm of ankle torque and has an operating pressure...
Despite the prevalence of stroke-induced gait impairment due to foot drop, current rehabilitative practices to improve gait function are limited, and orthoses can be uncomfortable and do not provide long-lasting benefits. Therefore, novel modalities that may facilitate lasting neurological and functional improvements, such as brain-computer interfaces (BCIs), have been explored. In this article, we...
While motor imagery has been known as a powerful tool for neuro-rehabilitation in stroke patients, whether this technique is also effective for other brain disorders is unclear. For instance, patients with Parkinson's disease or attention-deficit hyperactivity disorder who are impaired at real motor switching may benefit therapeutically from training that consists of switching their imagined motor...
By design, commonly worn energy storage and release (ESR) prosthetic feet cannot provide biologically realistic ankle joint torque and angle profiles during walking. Additionally, their anthropomorphic, cantilever architecture causes their mechanical stiffness to decrease throughout the stance phase of walking, opposing the known trend of the biological ankle. In this study, the design of a quasi-passive...
This work investigates the potential of a four-class motor-imagery-based brain-computer interface (BCI) using functional near-infrared spectroscopy (fNIRS). Four motor imagery tasks (right hand, left hand, right foot, and left foot tapping) were executed while motor cortex activity was recorded via fNIRS. Preliminary results from three participants suggest that this could be a viable BCI interface,...
We equipped an insole with a force sensor that can detect in real time when a foot over pronates. When such behavior is detected, we warn the user so they can correct their posture by using their own muscles. The effectiveness of this novel way to correct over pronation posture is evaluated over a two-week period. The use of vibrotactile feedback reduces over pronation by 30% to 50% during the first...
The aim of this study was to propose and comparatively evaluate four methods for assessing stride-by-stride changes of direction of progression, during straight walking using measurements of a magnetic and inertial unit placed above the malleolus. The four methods were evaluated by comparing their estimate of the gait changes of direction of progression with that obtained from an instrumented gait...
We present a novel approach to gait analysis using ensemble Kalman filtering which permits markerless determination of segmental movement. We use image flow analysis to reliably compute temporal and kinematic measures including the translational velocity of the torso and rotational velocities of the lower leg segments. Detecting the instances where velocity changes direction also determines the standard...
Loss of balance leads to increased likelihood of falling for human locomotion. Determining the likelihood of falling for skiing locomotion is challenging because, unlike walking, normal locomotion is not clearly defined. One of the first learned styles of skiing is wedge style (WS). WS affords relatively easier balancing and speed control due to a wide base of support and greater resistance to forward...
Presented is the design, implementation, and initial gait testing of a lightweight, compliant robotic device for ankle rehabilitation. Many patients with neuromuscular disorders suffer deficits in sensorimotor control of the ankle joint, leading to an abnormal walking pattern. Robotic devices have been used to assist ankle rehabilitation. However, these devices are usually heavy and rigid, which can...
Among several characteristics seen in gait of hemiplegic patients after stroke, symmetry is known to be an indicator of the degree of impairment of walking ability. This paper proposes a control method for a wearable type lower limb motion assist robot to realize spontaneous symmetric gait for these individuals. This control method stores the motion of the unaffected limb during swing and then provides...
The purpose of this study is to develop smart equipment to quantify plantar tactile sensibility for the early diagnosis and tracking of peripheral neuropathy caused by diabetes mellitus. In this paper, we offer a new testing system that is composed of a plantar tactile stimulation platform with a small moving contactor to stretch the skin tangentially, a response switch for each tactile stimulus,...
Normal gait needs both proprioceptive and visual feedback to the nervous system to effectively control the rhythmicity of motor movement. Current preprogrammed exoskeletons provide only visual feedback with no user control over the foot trajectory. We propose an intuitive controller where hand trajectories are mapped to control contralateral foot movement. Our study shows that proprioceptive feedback...
A feature of healthy gait is a clearly defined heel strike upon initial contact of the foot with the ground. However, a common consequence of ageing is deterioration of the heel first nature of gait towards a shuffling gait (flat foot at contact). Physiotherapy can be effective in correcting this but is costly and labour intensive. Gait rehabilitation could be accelerated with home exercise, guided...
The aim of this study was to compare three foot-finding methods applied to ultrasound Doppler and photoplethysmographic (PPG) signals: maximum 1st derivative, maximum 2nd derivative and an ‘intersecting tangents’ method. The pulse arrival times of each method were compared. Also the precision of each method was evaluated by comparing instantaneous cardiac periods derived using each method from simultaneous...
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