Identifying invariant gait metrics for exoskeleton assistance

Graham Henderson; Daniel Gordon; Sethu Vijayakumar

doi:10.1109/ROBIO.2017.8324469

Identifying invariant gait metrics for exoskeleton assistance

Graham Henderson, Daniel Gordon, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Exoskeletons have the potential to increase the independence and quality of life of patients with walking pathologies. To do this effectively, the exoskeleton requires a control paradigm that can determine the timing and magnitude of assistance that is suitable for the user’s task and environment. This paper searches for a metric that can be optimised, enabling assistance to be applied without compromising the energy efficiency and stability of gait. Spatial and temporal, kinematic, kinetic, and other novel dynamic stability metrics were compared across three different assistance scenarios and five different walking contexts. Results demonstrated that three metrics: step width, medial-lateral centre of pressure displacement, and medial-lateral margin of stability were the most invariant. This result suggests dynamic stability metrics are optimised in human gait and therefore are potentially suitable metrics for optimising in an exoskeleton control paradigm.

Original language	English
Title of host publication	Proc. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO '17)
Publisher	Institute of Electrical and Electronics Engineers
Pages	520-526
Number of pages	7
ISBN (Electronic)	978-1-5386-3742-5
ISBN (Print)	978-1-5386-3743-2
DOIs	https://doi.org/10.1109/ROBIO.2017.8324469
Publication status	Published - 26 Mar 2018
Event	Intl. Conf. on Robotics and Biomimetics (ROBIO '17) - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017 http://2017.ieee-robio.org/

Conference

Conference	Intl. Conf. on Robotics and Biomimetics (ROBIO '17)
Country/Territory	China
City	Macau
Period	5/12/17 → 8/12/17
Internet address	http://2017.ieee-robio.org/

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10.1109/ROBIO.2017.8324469

henderson-ROBIO2017-1Accepted author manuscript, 2.98 MBLicence: Creative Commons: Attribution (CC-BY)

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8324469

Cite this

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title = "Identifying invariant gait metrics for exoskeleton assistance",

abstract = "Exoskeletons have the potential to increase the independence and quality of life of patients with walking pathologies. To do this effectively, the exoskeleton requires a control paradigm that can determine the timing and magnitude of assistance that is suitable for the user{\textquoteright}s task and environment. This paper searches for a metric that can be optimised, enabling assistance to be applied without compromising the energy efficiency and stability of gait. Spatial and temporal, kinematic, kinetic, and other novel dynamic stability metrics were compared across three different assistance scenarios and five different walking contexts. Results demonstrated that three metrics: step width, medial-lateral centre of pressure displacement, and medial-lateral margin of stability were the most invariant. This result suggests dynamic stability metrics are optimised in human gait and therefore are potentially suitable metrics for optimising in an exoskeleton control paradigm.",

author = "Graham Henderson and Daniel Gordon and Sethu Vijayakumar",

year = "2018",

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doi = "10.1109/ROBIO.2017.8324469",

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booktitle = "Proc. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO '17)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "Intl. Conf. on Robotics and Biomimetics (ROBIO '17) ; Conference date: 05-12-2017 Through 08-12-2017",

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AU - Gordon, Daniel

AU - Vijayakumar, Sethu

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N2 - Exoskeletons have the potential to increase the independence and quality of life of patients with walking pathologies. To do this effectively, the exoskeleton requires a control paradigm that can determine the timing and magnitude of assistance that is suitable for the user’s task and environment. This paper searches for a metric that can be optimised, enabling assistance to be applied without compromising the energy efficiency and stability of gait. Spatial and temporal, kinematic, kinetic, and other novel dynamic stability metrics were compared across three different assistance scenarios and five different walking contexts. Results demonstrated that three metrics: step width, medial-lateral centre of pressure displacement, and medial-lateral margin of stability were the most invariant. This result suggests dynamic stability metrics are optimised in human gait and therefore are potentially suitable metrics for optimising in an exoskeleton control paradigm.

AB - Exoskeletons have the potential to increase the independence and quality of life of patients with walking pathologies. To do this effectively, the exoskeleton requires a control paradigm that can determine the timing and magnitude of assistance that is suitable for the user’s task and environment. This paper searches for a metric that can be optimised, enabling assistance to be applied without compromising the energy efficiency and stability of gait. Spatial and temporal, kinematic, kinetic, and other novel dynamic stability metrics were compared across three different assistance scenarios and five different walking contexts. Results demonstrated that three metrics: step width, medial-lateral centre of pressure displacement, and medial-lateral margin of stability were the most invariant. This result suggests dynamic stability metrics are optimised in human gait and therefore are potentially suitable metrics for optimising in an exoskeleton control paradigm.

U2 - 10.1109/ROBIO.2017.8324469

DO - 10.1109/ROBIO.2017.8324469

M3 - Conference contribution

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EP - 526

BT - Proc. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO '17)

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T2 - Intl. Conf. on Robotics and Biomimetics (ROBIO '17)

Y2 - 5 December 2017 through 8 December 2017

ER -

Identifying invariant gait metrics for exoskeleton assistance

Abstract

Conference

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