NDLI: Timing and kinematics of quadrupedal walking pattern

Content Provider	IEEE Xplore Digital Library
Author	Bajd, T. Zefran, M. Kralj, A.
Copyright Year	1995
Description	Author affiliation: Fac. of Electr. & Comput. Eng., Ljubljana Univ., Slovenia (Bajd, T.; Zefran, M.; Kralj, A.)
Abstract	Improved walking of completely paralyzed paraplegic subjects assisted by multichannel functional electrical stimulation (FES) and crutches is proposed. In the resulting quadrupedal gait the center of body (COB) is both actively and passively transferred in the direction of progression. Active transfer of the COB is accomplished by electrical stimulation of ankle plantarflexors of the trailing leg. Passive displacement of the COB occurs during the unstable state when the paraplegic person is only supported by a single foot and the contralateral crutch. Comparison of the time parameters measured during human crawling on knees and arms with the crutch assisted walking is presented. Results of kinematic modeling of the present and the improved FES and crutch assisted walking are displayed in the form of supporting polygons with the trajectory of the COB projected to the ground.
Starting Page	303
Ending Page	307
File Size	466745
Page Count	5
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.525900
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Timing Kinematics Legged locomotion Neuromuscular stimulation Electrical stimulation Leg Foot Time measurement Anthropometry Humans
Content Type	Text
Resource Type	Article

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