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Predicting Individualized Joint Kinematics over Continuous Variations of Walking, Running, and Stair Climbing

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posted on 2022-12-30, 19:37 authored by Emma ReznickEmma Reznick, Cara WelkerCara Welker, Robert GreggRobert Gregg

GOAL: Accounting for gait individuality is important to positive outcomes with wearable robots, but tuning multi-activity models is time-consuming and not viable in a clinic. Generalizations can be made to predict gait individuality in unobserved conditions. METHODS: Kinematic individuality—how one person’s joint angles differ from the group—is quantified for every subject, joint, ambulation mode (walking, running, stair ascent, and stair descent), and intramodal task (speed, incline) in an open-source able-bodied dataset. Four N-way ANOVAs test how prediction methods affect the fit to experimental data between and within ambulation modes. We test whether walking individuality carries across modes, or whether a modal prediction is more effective against average kinematics. RESULTS: Kinematic individualization improves fit across joint and task if we consider each mode separately. Across all modes, tasks, and joints, individualization improved the fit in 81% of trials, improving the fit on average by 4.3º across the gait cycle. This was statistically significant at all joints for walking and running, and half the joints for stair ascent/descent. CONCLUSIONS: Kinematic individualization tends to improve fit across all joints and can be easily predicted by observing only one task within an ambulation mode.


Controlling Locomotion over Continuously Varying Activities for Agile Powered Prosthetic Legs

Eunice Kennedy Shriver National Institute of Child Health and Human Development

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University of Michigan

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  • United States of America

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