The Importance of Haptics in Generating Exoskeleton Gait Trajectory Using Alternate Motor Inputs

Autor: Richard Foulds, Kevin M. Abbruzzese, Kiran K. Karunakaran, Hao Xu
Rok vydání: 2017
Předmět:
Adult
Male
0209 industrial biotechnology
medicine.medical_specialty
InformationSystems_INFORMATIONINTERFACESANDPRESENTATION(e.g.
HCI)
Computer science
Biomedical Engineering
Wearable computer
02 engineering and technology
Kinematics
Functional Laterality
Feedback
Upper Extremity
User-Computer Interface
Young Adult
03 medical and health sciences
020901 industrial engineering & automation
0302 clinical medicine
Gait (human)
Physical medicine and rehabilitation
Computer Systems
Internal Medicine
medicine
Humans
Exoskeleton Device
Gait
Spinal Cord Injuries
ComputingMethodologies_COMPUTERGRAPHICS
Haptic technology
General Neuroscience
Rehabilitation
Equipment Design
Anatomy
Hand
Healthy Volunteers
Biomechanical Phenomena
Exoskeleton
body regions
User control
Trajectory
Female
human activities
Locomotion
030217 neurology & neurosurgery
Zdroj: IEEE Transactions on Neural Systems and Rehabilitation Engineering. 25:2328-2335
ISSN: 1558-0210
1534-4320
Popis: Human gait requires both haptic and visual feedback to generate and control rhythmic movements, and navigate environmental obstacles. Current lower extremity wearable exoskeletons that restore gait to individuals with paraplegia due to spinal cord injury rely completely on visual feedback to generate limited pre-programmed gait variations, and generally provide little control by the user over the gait cycle. As an alternative to this limitation, we propose user control of gait in real time using healthy upper extremities. This paper evaluates the feedback conditions required for the hands to generate complex rhythmic trajectories that resemble gait trajectories. This paper involved 18 subjects who performed a virtual locomotor task, where contralateral hand movements were mapped to control virtual feet in three feedback conditions: haptic only, visual only, and haptic and visual. The results indicate that haptic feedback in addition to visual feedback is required to produce rhythmic hand trajectories similar to gait trajectories.
Databáze: OpenAIRE
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