On the adaptation of pelvic motion by applying 3-dimensional guidance forces using TPAD

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dc.contributor.author Kang, Jiyeon
dc.contributor.author Vashista, Vineet
dc.contributor.author Agrawal, Sunil K.
dc.date.accessioned 2018-02-13T10:33:49Z
dc.date.available 2018-02-13T10:33:49Z
dc.date.issued 2017-09
dc.identifier.citation Kang, Jiyeon; Vashista, Vineet and Agrawal, Sunil K., “On the adaptation of pelvic motion by applying 3-dimensional guidance forces using TPAD”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, DOI: 10.1109/TNSRE.2017.2679607, vol. 25, no. 9, pp. 1558-1567, Sep. 2017. en_US
dc.identifier.issn 1534-4320
dc.identifier.issn 1558-0210
dc.identifier.uri http://repository.iitgn.ac.in/handle/123456789/3449
dc.identifier.uri http://dx.doi.org/10.1109/TNSRE.2017.2679607
dc.description.abstract Pelvic movement is important to human locomotion as the center of mass is located near the center of pelvis. Lateral pelvic motion plays a crucial role to shift the center of mass on the stance leg, while swinging the other leg and keeping the body balanced. In addition, vertical pelvic movement helps to reduce metabolic energy expenditure by exchanging potential and kinetic energy during the gait cycle. However, patient groups with cerebral palsy or stroke have excessive pelvic motion that leads to high energy expenditure. In addition, they have higher chances of falls as the center ofmass could deviate outside the base of support. In this paper, a novel control method is suggested using tethered pelvic assist device (TPAD) to teach subjects to walk with a specified target pelvic trajectory while walking on a treadmill. In this method, a force field is applied to the pelvis to guide it to move on a target trajectory and correctional forces are applied, if the pelvis motion has excessive deviations from the target trajectory. Three different experimentswith healthy subjects were conducted to teach them to walk on a new target pelvic trajectory with the presented control method. For all three experiments, the baseline trajectory of the pelvis was experimentally determined for each participating subject. To design a target pelvic trajectory which is different from the baseline, Experiment I scaled up the lateral component of the baseline pelvic trajectory, while Experiment II scaled down the lateral component of the baseline trajectory. For both Experiments I and II, the controller generated a 2-D force field in the transverse plane to provide the guidance force. In this paper, seven subjects were recruited for each experiment who walked on the treadmill with suggested control methods and visual feedback of their pelvic trajectory. The results show that the subjects were able to learn the target pelvic trajectory in each experiment and also retained the training effects after the completion of the experiment. In Experiment III, both lateral and vertical components of the pelvic trajectory were scaled down from the baseline trajectory. The force field was extended to three dimensions in order to correct the vertical pelvic movement as well. Three subgroups (force feedback alone, visual feedback alone, and both force and visual feedback) were recruited to understand the effects of force feedback and visual feedback alone to distinguish the results from Experiments I and II. The results showthat a trainingmethod that combines visual and force feedback is superior to the training methods with visual or force feedback alone. We believe that the present control strategy holds potential in training and correcting abnormal pelvic movements in different patient populations. en_US
dc.description.statementofresponsibility by Jiyeon Kang, Vineet Vashista and Sunil K. Agrawal
dc.format.extent Vol. 25, no. 9, pp. 1558-1567
dc.language.iso en en_US
dc.publisher IEEE en_US
dc.subject Trajectory en_US
dc.subject Force en_US
dc.subject Pelvis en_US
dc.subject Legged locomotion en_US
dc.subject Visualization en_US
dc.subject Training en_US
dc.subject Force feedback en_US
dc.subject medical control systems en_US
dc.subject medical disorders en_US
dc.subject motion control en_US
dc.subject patient rehabilitation en_US
dc.subject Gait rehabilitation en_US
dc.subject pelvic assist en_US
dc.subject motor adaptation en_US
dc.title On the adaptation of pelvic motion by applying 3-dimensional guidance forces using TPAD en_US
dc.type Article en_US
dc.relation.journal IEEE Transactions on Neural Systems and Rehabilitation Engineering


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