Wearable data collection system for online gait stability analysis.

We had shown in our previous research that the stability assessment and control are essential for generation of faster and more energy efficient functional electrical stimulation (FES) and/or crutch-assisted gait. The objective of our recent research work has been to design a wearable and portable system for gait stability analysis with online capabilities that is also applicable to crutch-assisted gait modes. The developed wearable stability assessment system for as yet only biped gait consists of foot switches and goniometers attached to the leg joints.

Stability in legged locomotion.

Stability is a key element in a gait synthesis. Static stability margins are widely adopted in crawlers, while no similar approach has been developed for dynamically stable systems. Utilizing an analytical approach, we developed a set of easy-to-calculate stability indices to describe instantaneous static and dynamic (In)stability for a certain group of walking systems.

Using motion analysis data for foot-floor contact detection.

A simple, fast and straightforward method was developed for automatically deriving foot-floor contact information from tracking motion analysis system markers attached to the shoes of the subjects. The method was based on an accurate calibration of the motion analysis system prior to the experiments and a trivial off-line threshold-based algorithm using dedicated foot-attached marker positions and velocities as inputs. The main purpose of the method was to obtain the results almost instantaneously.

Stability analysis of four-point walking.

The aim of the experiment reported here was to determine the static and dynamic stability of two-point stance phases when walking on hands and knees at different speeds. In addition, we defined the methods and predicted the consequences of including two-point stance phases into crutch assisted functional electrical stimulation (FES) walking. Crawling on hands and knees was performed at three speeds by five healthy male persons.