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A kinematic and dynamic analysis on orthotic gait of paraplegics
Author(s) -
Kagawa Takahiro,
Fukuda Hiroshi,
Uno Yoji
Publication year - 2007
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20533
Subject(s) - inverted pendulum , gait , kinematics , trajectory , trunk , physical medicine and rehabilitation , control theory (sociology) , mathematics , computer science , physics , medicine , classical mechanics , nonlinear system , ecology , control (management) , quantum mechanics , astronomy , artificial intelligence , biology
In this study, we attempt to quantify the relationship between significant arm‐clutch loading, leg restriction, and motor paralysis, and analyze lumbar joint trajectories in the orthotic gait of paraplegic subjects and in the ordinary and orthotic gaits of a normal subject, by using an inverted pendulum model. With leg restriction, the trajectories are located in front of an equilibrium point of the inverted pendulum, and the loading is higher due to the influence of the gravity moment. Comparing the trajectories of paraplegic and normal gait with orthosis in the horizontal plane, the trajectory in the paraplegic subjects was rectilinear, while that in the normal subject was curved in the direction toward the equilibrium point. The loading is lower in the curved trajectory than in the straight trajectory because of the trade‐off between gravity and inertia. These results suggest that the increase in the distance between the trunk movement and the equilibrium point of the inverted pendulum results in significant loading due to leg restriction and motor paralysis in the orthotic gait of paraplegics. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 161(3): 10– 21, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20533