Estimation of ground reaction forces using forearm crutches instrumented with pressure sensors and accelerometers

Download

index.pdf

Date

2016

Author

Seylan, Çağlar

Metadata

Show full item record

Item Usage Stats

223
views

283
downloads

The use of crutches is critical for successful restoration of walking mobility through lower-body robotic orthoses that externally support and replace the functions of knee and hip joints. In this context, crutches can also provide useful sensory data, allowing the estimation of system state, postural stability, controller performance as well as user intention to regulate controller actions. In this thesis, we describe design and analysis of a crutch system instrumented with accelerometer and pressure sensors to estimate ground reaction forces on their point of contact, providing a well-defined sensory output for such applications. We propose an angle-dependent quadratic model to map pressure data to force components, which we identify using least-squares methods. First, we show performance of the model for specific crutch angles. Then, we evaluate the model and show the results for crutch angles other than those used for training. Finally, we present the evaluation and analysis of the model under dynamic conditions in which the crutch angle is varied by time.

Subject Keywords

Forearm., Crutches., Least squares., Accelerometers., Walkers (Orthopedic apparatus).

URI

http://etd.lib.metu.edu.tr/upload/12619727/index.pdf
https://hdl.handle.net/11511/25423

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Realization of human gait in virtual fluid environment on a robotic gait trainer for therapeutic purposes Ertop, Tayfun Efe; Yuksel, Tolga; Konukseven, Erhan İlhan (Elsevier BV, 2018-7) Patients with disorders such as spinal cord injury, cerebral palsy and stroke can perform full gait when assisted, which progressively helps them regain the ability to walk. A very common way to create assistive effects is aquatic therapy. Aquatic environment also creates resistive effects desired for strength building. In this study, realization of a virtual fluid environment on a robotic gait trainer is presented as an alternative method. A model was created to determine torques and forces acting on the h...
Estimation of Ground Reaction Forces Using Low-Cost Instrumented Forearm Crutches Seylan, Çağlar; Saranlı, Uluç (2018-06-01) Instrumented crutches are useful for many rehabilitation tasks, including monitoring the correctness of crutch use, analyzing gait properties for patients with lower-limb impairments, as well as providing sensory data for controlling lower-body robotic orthoses. In this paper, we describe the design and analysis of an instrumented crutch system equipped with low-cost accelerometer and pressure sensors to estimate all components of the ground reaction force (GRF), providing a well-defined and physically mean...
Realization of virtual fluid environment on a robotic gait trainer for therapeutic purposes Ertop, Tayfun Efe; Konukseven, Erhan İlhan; Koku, Ahmet Buğra; Department of Mechanical Engineering (2017) Patients with disorders such as spinal cord injury, cerebral palsy and stroke can perform full gait when assisted, which progressively helps them regain the ability to walk. A very common way to create assistive effects is aquatic therapy. Aquatic environment also creates resistive effects desired for increasing muscle activity. Simulating the fluid environment using a robotic system would enable therapists to adjust various fluid parameters so that the therapy is tailored to each patient’s unique state. In...
Etiology of senile osteoporosis - A hypothesis Atik, O. Sahap; Uslu, M. Murad; Eksioglu, Fatih; Satana, Tolgay (Ovid Technologies (Wolters Kluwer Health), 2006-02-01) Osteoporosis is a major health problem characterized by compromised bone strength predisposing patients to an increased risk of fracture. It may cause morbidity and mortality in elderly men and women. The etiologic factors that lead to senile osteoporosis still are unclear.
Surgical repair of cartilage defects of the patella Atik, OS; Korkusuz, Feza (Ovid Technologies (Wolters Kluwer Health), 2001-08-01) The structure and biomechanical forces on the patellar joint challenges researchers to define an ideal method for resurfacing the patellar cartilage. The articular surface of the patella presents variability between individuals, and has various minor articulations that bear partial or total compressive, shear, and combined forces during movement. Surgical techniques for the repair of patellar cartilage defects have evolved from cumulative advances in basic science and technology. Such surgeries include the ...

Citation Formats

Ç. Seylan, “Estimation of ground reaction forces using forearm crutches instrumented with pressure sensors and accelerometers,” M.S. - Master of Science, Middle East Technical University, 2016.