Search results for "gait"
showing 10 items of 316 documents
A neural network approach to movement pattern analysis.
2004
Movements are time-dependent processes and so can be modelled by time-series of coordinates: E.g., each articulation has geometric coordinates; the set of the coordinates of the relevant articulations build a high-dimensional configuration. These configurations--or "patterns"--give reason for analysing movements by means of neural networks: The Kohonen Feature Map (KFM) is a special type of neural network, which (after having been coined by training with appropriate pattern samples) is able to recognize single patterns as members of pattern clusters. This way, for example, the particular configurations of a given movement can be identified as belonging to respective configuration clusters, …
ROBOTIC INTERACTION AND COOPERATION. Industrial and rehabilitative applications
2014
The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts hav…
Resilient hexapod robot
2017
In this paper, we present a method of learning desired behaviour of the specific robotic system and transfer of the existing knowledge in the event of partial system failure. Six-legged robot (hexapod) built on top of the Bioloid platform is used for the method verification. We use genetic algorithms to optimize the hexapod's gait, after which we simulate physical damage caused to the robot. The goal of this method is to optimize the gait in accordance with the actual robot morphology, instead of the assumed one. Also, knowledge that was previously gained will be transferred in order to improve the results. Nonstandard genetic algorithm with the specific mixed population is used for this.
ANODAL TRANSCRANIAL DIRECT CURRENT STIMULATION (TDCS) APPLIED TO THE MOTOR CORTEX AMELIORATES FREEZING OF GAIT IN PATIENTS AFFECTED BY PARKINSON’S DI…
2012
Background: Progression of Parkinson’s disease (PD) is frequently characterized by the occurrence of freezing of gait (FOG), which generally does not improve with dopaminergic therapy and with current available surgical therapies. Recent evidences show that motor symptoms may be ameliorated by means of non-invasive brain stimulation techiniques in PD (transcranial current direct stimulation, TDCS; repetitive transcranial magnetic stimulation, RTMS). Objective: To investigate the efficacy of anodal TDCS in the treatment of FOG in PD. Excitatory anodal tDCS was applied unilaterally to the motor and premotor cortices controlateral to the most affected leg. Methods: randomized, double-blind, sh…
Sichelgaita di Salerno, principessa longobarda, nei «Gesta Roberti Wiscardi» di Guglielmo il Pugliese
2020
L’articolo è dedicato alla raffigurazione della principessa longobarda Sichelgaita di Salerno, seconda moglie di Roberto il Guiscardo, nei «Gesta Roberti Wiscardi» di Guglielmo il Pugliese, l’unico poema epico-storico dei secc. XI-XII che tratti della conquista normanna dell’Italia meridionale. In questa nota, Sichelgaita viene presentata attraverso il suo profilo storico e biografico e alla luce della disamina di alcuni passi del poema (in particolare, II 416-443). This paper is devoted to the figure of Robert Guiscard’s second wife, the Lombard princess Sichelgaita of Salerno, in William of Puglia’s «Gesta Roberti Wiscardi», the only epic-historical poem of XIth-XIIth centuries that deals…
The challenges of prosthetic design and control
2020
Abstract During the last decade, there has been significant interest – both in academia and in industry – in devising technologically advanced solutions for the improvement of mobility of people with a lower-limb amputation. This is partly due to the fact that the number of lower-limb amputees is constantly increasing. The majority of current prosthetic solutions are energetically passive devices, meaning that these devices can only react, while an active one can both act and react. Hence, they are unable to restore full mobility to lower-limb amputees. Many common everyday activities, such as walking up a slope or ascending and descending stairs, require the exertion of large forces and mo…
Reliability of physical functioning measures in ambulatory subjects with MS.
2005
Background and Purpose. One of the primary reasons for measuring outcomes during rehabilitation is to determine the effect of physiotherapy. Repeated measurement situations are susceptible to several sources of error, including inconsistencies caused by the subject, the procedure, the instrument and the examiner. Therefore, the reliability of the measures needs to be examined. Method. The present study used a repeated-measures design. Two studies were undertaken to examine the test–retest and inter-rater reliability for physical functioning measures. The interval between the measurements was one week. The sample consisted of 19 ambulatory subjects with mutliple sclerosis (MS) in the test–re…
Deep learning approach for prediction of impact peak appearance at ground reaction force signal of running activity
2020
Protruding impact peak is one of the features of vertical ground reaction force (GRF) that is related to injury risk while running. The present research is dedicated to predicting GRF impact peak appearance by setting a binary classification problem. Kinematic data, namely a number of raw signals in the sagittal plane, collected by the Vicon motion capture system (Oxford Metrics Group, UK) were employed as predictors. Therefore, the input data for the predictive model are presented as a multi-channel time series. Deep learning techniques, namely five convolutional neural network (CNN) models were applied to the binary classification analysis, based on a Multi-Layer Perceptron (MLP) classifi…
Efficacy of augmented reality versus conventional physical therapy for the improvement of balance, gait, upper-limb and dual task in people with mult…
2022
Introducción: La Esclerosis Múltiple (EM)es un trastorno progresivo multifocal del sistema nervioso central, que a menudo resulta en diversas manifestaciones clínicas. Las personas con Esclerosis Múltiple (pcEM) a menudo sufren diferentes trastornos motores en el equilibrio, la marcha y las extremidades superiores, incluso mientras realizan alguna actividad de la vida diaria, lo que también afecta la doble tarea. La realidad aumentada (RA) se está convirtiendo en una herramienta de entrenamiento popular para la recuperación funcional en fisioterapia. Por tanto, el objetivo era demostrar la eficacia de la RA para el equilibrio, la marcha, los miembros superiores y la tarea dual, como una her…
Zvaigžņotā Debess: 2005, Rudens
2005
Latvijas Zinātnes padome, Latvijas Universitāte