In this paper we examine a method to control the stepping motion of a paralyzed person suspended over a treadmill using a robot attached to the pelvis. A leg swing motion is created by moving the pelvis without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem is converted into a discrete parameter optimization and an efficient gradient-based algorithm is used to solve it. Motion capture data from an unimpaired human subject is compared to the simulation results from the dynamic motion optimization. Our results suggest that it is feasible to drive repetitive stepping on a treadmill by a paralyzed person by assisting in torso movement alone. The optimized, pelvic motion strategies are comparable to “hip-hiking” gait strategies used by people with lower limb prostheses or hemiparesis. The resulting motions can be found at the web site http://www.eng.uci.edu/∼chwang/project/stepper/stepper.html.
Issue Section:
Joint/Whole Body
Topics:
Optimization,
Robotics,
Optimal control,
Prostheses,
Robots,
Design,
Trajectories (Physics),
Knee
1.
Wickelgren
, I.
, 1998, “Teaching the Spinal Cord to Walk
,” Science
0036-8075, 279
, pp. 319
–321
.2.
Behrman
, A.
, and Harkema
, S.
, 2000, “Locomotor Training after Human Spinal Cord Injury: A Series of Case Studies
,” Phys. Ther.
0031-9023, 80
, pp. 688
–700
.3.
Barbeau
, H.
, Norman
, K.
, Fung
, J.
, Visintin
, M.
, and Ladoucer
, M.
, 1998, “Does Neurorehabilitation Play a Role in the Recovery of Walking in Neurological Populations
,” Ann. N.Y. Acad. Sci.
0077-8923, 860
, pp. 377
–392
.4.
Hesse
, S.
, Uhlenbrock
, D.
, and Sarkodie-Gyan
, T.
, 1999, “Gait Pattern of Severely Disabled Hemiparetic Subjects on a New Controlled Gait Trainer as Compared to Assisted Treadmill Walking with Partial Body Weight Support
,” Clin. Rehabil.
0269-2155, 13
, pp. 401
–410
.5.
Hesse
, S.
, and Uhlenbrock
, D.
, 2000, “A Mechanized Gait Trainer for Restoration of Gait
,” J. Rehabil. Res. Dev.
0748-7711, 37
(6
), pp. 701
–708
.6.
Colombo
, G.
, Joerg
, M.
, Schreier
, R.
, and Dietz
, V.
, 2000, “Treadmill Training of Paraplegic Patients with a Robotic Orthosis
,” J. Rehabil. Res. Dev.
0748-7711, 37
(6
), pp. 693
–700
.7.
Reinkensmeyer
, D. J.
, Wynne
, J. H.
, and Harkema
, S. J.
, 2002, “A Robotic Tool for Studying Locomotor Adaptation and Rehabilitation
,” Proceedings of the Second Joint Meeting of the IEEE Engineering in Medicine and Biology Society and the Biomedical Engineering Society
, 3
, pp. 2353
–2354
.8.
Bejczy
, A.
, 1999, “Towards Development of Robotic Aid for Rehabilitation of Locomotion-Impaired Subjects
,” Proceedings of the First Workshop on Robot Motion and Control (RoMoCo’99)
, pp. 9
–16
.9.
Albro
, J. V.
, Sohl
, G. A.
, Bobrow
, J. E.
, and Park
, F. C.
, 2000, “On the Computation of Optimal High-Dives
,” IEEE International Conference on Robotics and Automation
, 4
, pp. 3958
–3963
.10.
Sohl
, G. A.
, and Bobrow
, J. E.
, 2001, “A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 123
(3
), pp. 391
–399
.11.
Hodgins
, J. K.
, 1996, “Three-Dimensional Human Running
,” IEEE International Conference on Robotics and Automation
, 4
, pp. 3271
–3276
.12.
Pandy
, M. G.
, and Anderson
, F. C.
, 2000, “Dynamic Simulation of Human Movement Using Large-Scale Models of the Body
,” IEEE International Conference on Robotics and Automation
, 1
, pp. 676
–681
.13.
Anderson
, F. C.
, and Pandy
, M. G.
, 2001, “Dynamic Optimization of Human Walking
,” J. Biomech. Eng.
0148-0731, 123
(5
), pp. 381
–390
.14.
Wang
, C-Y. E.
, Bobrow
, J. E.
, and Reinkensmeyer
, D. J.
, 2001, “Swinging from the Hip: Use of Dynamic Motion Optimization in the Design of Robotic Gait Rehabilitation
,” IEEE International Conference on Robotics and Automation
, 2
, pp. 1433
–1438
.15.
Thorstensson
, A.
, Nilsson
, J.
, Carlson
, H.
, and Zomlefer
, MR.
, 1984, “Trunk Movements in Human Locomotion
,” Aeronaut. Q.
0001-9259, 121
(1
), pp. 9
–22
.16.
Bell
, A. L.
, Brand
, R. A.
, and Pedersen
, D. R.
, 1989, “Prediction of Hip Joint Centre Location From External Landmarks
,” Hum. Mov. Sci.
0167-9457, 8
, pp. 3
–16
.17.
Kirkwood
, R. N.
, Culham
, E. G.
, and Costigan
, P.
, 1999, “Radiographic and Non-invasive Determination of the Hip Joint Center Location: Effect on Hip Joint Moments
,” Clin. Biomech. (Los Angel. Calif.)
0191-7870, 14
(4
), pp. 227
–235
.18.
Zatslorsky
, V.
, and Seluyanov
, V.
, 1985, “Estimation of the Mass and Inertia Characteristics of the Human Body by Means of the Best Prediictive Regression Equations
,” Biomechanics IX-B
, D. A.
Winter
et al. eds., Human Kinetics Publishers
, Champain, Illinois, pp. 233
–239
.19.
Dempster
, W. T.
, and Gaughran
, G. R. L.
, 1968, “Properties of Body Segments Based on Size and Weight
,” Am. J. Anat.
0002-9106, 120
, pp. 33
–54
.20.
Bartels
, R. H.
, Beatty
, J. C.
, and Barsky
, B. A.
, 1987, An Introduction to Splines for Use in Computer Graphics and Geometric Modeling
, Morgan Kaufmann
, Las Altos, CA.21.
Wang
, C-Y. E.
, Timoszyk
, W. K.
, and Bobrow
, J. E.
, 1999, “Weightlifting Motion Planning for a Puma 762 robot
,” IEEE International Conference on Robotics and Automation
, 1
, pp. 480
–485
.22.
Wang
, C-Y. E.
, Timoszyk
, W. K.
, and Bobrow
, J. E.
, 2001, “Payload Maximization for Open Chained Manipulators: Finding Weightlifting Motions for a Puma 762 Robot
,” IEEE Trans. Rob. Autom.
1042-296X, 17
(2
), pp. 218
–224
.23.
Michaud
, S. B.
, Gard
, S. A.
, and Childress
, D. S.
, 2000, “A Preliminary Investigation of Pelvic Obliquity Patterns During Gait in Persons with Transtibal and Transfemoral Amputation
,” J. Rehabil. Res. Dev.
0748-7711, 37
(1
), pp. 1
–10
.24.
Kerrigan
, D. C.
, Frates
, E. P.
, Rogan
, S.
, and Riley
, P. O.
, 2000, “Hip Hiking and Circumduction: Quantitative Definitions
,” Am. J. Phys. Med. Rehabil.
0894-9115, 79
(3
), pp. 247
–252
.25.
Latash
, M. L.
, and Anson
, J. G.
, 1996, “What are Normal Movements in Atypical Populations?
,” Behav. Brain Res.
0166-4328, 19
(1
), pp. 55
–106
.26.
Ichinose
, W. E.
, Reinkensmeyer
, D. J.
, Aoyagi
, D.
, Lin
, J. T.
, Ngai
, K.
, Edgerton
, V. R.
, Harkema
, S. J.
, and Bobrow
, J. E.
, “A Robotic Device for Measuring and Controlling Pelvic Motion During Locomotor Rehabilitation
,” Proceedings of the 2003 IEEE Engineering in Medicine and Biology Society Meeting
.27.
Yamaguchi
, G.
, 1990, “Performing Whole-Body Simulations of Gait with 3-D, Dynamic Musculoskeletal Models
,” Multiple Muscle Systems: Biomechanics and Movement Organization
, J. M.
Winters
and S. L-Y.
Woo
ed., Springer Verlag
, pp. 663
–679
.28.
Erdmann
, W. S.
, 1997, “Geometric and Inertial data of the trunk in adult males
,” J. Biomech.
0021-9290, 30
(7
), pp. 679
–688
.29.
Harkema
, S. J.
, Hurley
, S. L.
, Patel
, U. K.
, Requejo
, P. S.
, Dobkin
, B. H.
, and Edgerton
, V. R.
, 1997, “Human Lumbosacral Spinal Cord Interprets Loading During Stepping
,” J. Neurophysiol.
0022-3077, 77
(3
), pp. 797
–811
.Copyright © 2005
by American Society of Mechanical Engineers
You do not currently have access to this content.
