Foot placement in balance recovery: complex humans vs simple model

    Research output: ThesisPhD Thesis - Research UT, graduation UT

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    Abstract

    Maintaining balance in daily life is very common to us. For a healthy individual, a fall is simply not supposed to happen. Unfortunately, various conditions such as stroke, spinal cord injury, or aging can lead to balance problems and affect a person's mobility. Robotic devices such as powered orthoses, often referred to as exoskeletons, might provide an outcome for these balance problems.
    In case of a lower-extremity exoskeleton, the user wears a construction around the legs that should provide support during standing and walking. This support can be to various purposes, such as to reduce the energetic costs of walking, to assist in gait rehabilitation, or to fully take over the walking motion. Although the purpose of the device might differ, most lower-extremity exoskeletons have one thing in common: they have no sense of balance. The exoskeleton cannot react to unexpected disturbances. Because of that, the user has to take the lead in making a balance recovery. This is especially troublesome when the user has balance impairments.
    To tackle these issues, the control of exoskeletons needs to be improved. Specifically, if the device can assist in balance control in a way that feels natural and intuitive to the user, the device is less likely to conflict with the user's intention. To realize such human-like balance controllers, we must first understand what human balance is, and investigate the way healthy humans regain their balance when it is lost. This might be investigated by applying perturbations to experimental subjects. Disturbances will lead to a balance recovery response involving various balance strategies, such as adjustments in foot placement, or modulation of ankle and hip moments.
    The focus of this thesis is on human balance recovery in response to external perturbations during walking. Because we mainly deal with walking, foot placement adjustments are expected to be a major, crucial strategy in balance control. This strategy might be replicated using simple inverted pendulum models of walking, which could provide a basis for predicting human-like responses.
    Original languageEnglish
    Awarding Institution
    • University of Twente
    Supervisors/Advisors
    • van der Kooij, Herman , Supervisor
    • van Asseldonk, Edwin H.F., Advisor
    Award date13 Dec 2017
    Place of PublicationEnschede
    Publisher
    Print ISBNs978-90-365-4441-2
    DOIs
    Publication statusPublished - 13 Dec 2017

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    Recovery
    Regain
    Pendulums
    Patient rehabilitation
    Robotics
    Aging of materials
    Modulation
    Wear of materials
    Controllers
    Costs

    Cite this

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    title = "Foot placement in balance recovery: complex humans vs simple model",
    abstract = "Maintaining balance in daily life is very common to us. For a healthy individual, a fall is simply not supposed to happen. Unfortunately, various conditions such as stroke, spinal cord injury, or aging can lead to balance problems and affect a person's mobility. Robotic devices such as powered orthoses, often referred to as exoskeletons, might provide an outcome for these balance problems. In case of a lower-extremity exoskeleton, the user wears a construction around the legs that should provide support during standing and walking. This support can be to various purposes, such as to reduce the energetic costs of walking, to assist in gait rehabilitation, or to fully take over the walking motion. Although the purpose of the device might differ, most lower-extremity exoskeletons have one thing in common: they have no sense of balance. The exoskeleton cannot react to unexpected disturbances. Because of that, the user has to take the lead in making a balance recovery. This is especially troublesome when the user has balance impairments.To tackle these issues, the control of exoskeletons needs to be improved. Specifically, if the device can assist in balance control in a way that feels natural and intuitive to the user, the device is less likely to conflict with the user's intention. To realize such human-like balance controllers, we must first understand what human balance is, and investigate the way healthy humans regain their balance when it is lost. This might be investigated by applying perturbations to experimental subjects. Disturbances will lead to a balance recovery response involving various balance strategies, such as adjustments in foot placement, or modulation of ankle and hip moments.The focus of this thesis is on human balance recovery in response to external perturbations during walking. Because we mainly deal with walking, foot placement adjustments are expected to be a major, crucial strategy in balance control. This strategy might be replicated using simple inverted pendulum models of walking, which could provide a basis for predicting human-like responses.",
    author = "Mark Vlutters",
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    doi = "10.3990/1.9789036544412",
    language = "English",
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    school = "University of Twente",

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    Foot placement in balance recovery : complex humans vs simple model. / Vlutters, Mark.

    Enschede : University of Twente, 2017. 224 p.

    Research output: ThesisPhD Thesis - Research UT, graduation UT

    TY - THES

    T1 - Foot placement in balance recovery

    T2 - complex humans vs simple model

    AU - Vlutters, Mark

    PY - 2017/12/13

    Y1 - 2017/12/13

    N2 - Maintaining balance in daily life is very common to us. For a healthy individual, a fall is simply not supposed to happen. Unfortunately, various conditions such as stroke, spinal cord injury, or aging can lead to balance problems and affect a person's mobility. Robotic devices such as powered orthoses, often referred to as exoskeletons, might provide an outcome for these balance problems. In case of a lower-extremity exoskeleton, the user wears a construction around the legs that should provide support during standing and walking. This support can be to various purposes, such as to reduce the energetic costs of walking, to assist in gait rehabilitation, or to fully take over the walking motion. Although the purpose of the device might differ, most lower-extremity exoskeletons have one thing in common: they have no sense of balance. The exoskeleton cannot react to unexpected disturbances. Because of that, the user has to take the lead in making a balance recovery. This is especially troublesome when the user has balance impairments.To tackle these issues, the control of exoskeletons needs to be improved. Specifically, if the device can assist in balance control in a way that feels natural and intuitive to the user, the device is less likely to conflict with the user's intention. To realize such human-like balance controllers, we must first understand what human balance is, and investigate the way healthy humans regain their balance when it is lost. This might be investigated by applying perturbations to experimental subjects. Disturbances will lead to a balance recovery response involving various balance strategies, such as adjustments in foot placement, or modulation of ankle and hip moments.The focus of this thesis is on human balance recovery in response to external perturbations during walking. Because we mainly deal with walking, foot placement adjustments are expected to be a major, crucial strategy in balance control. This strategy might be replicated using simple inverted pendulum models of walking, which could provide a basis for predicting human-like responses.

    AB - Maintaining balance in daily life is very common to us. For a healthy individual, a fall is simply not supposed to happen. Unfortunately, various conditions such as stroke, spinal cord injury, or aging can lead to balance problems and affect a person's mobility. Robotic devices such as powered orthoses, often referred to as exoskeletons, might provide an outcome for these balance problems. In case of a lower-extremity exoskeleton, the user wears a construction around the legs that should provide support during standing and walking. This support can be to various purposes, such as to reduce the energetic costs of walking, to assist in gait rehabilitation, or to fully take over the walking motion. Although the purpose of the device might differ, most lower-extremity exoskeletons have one thing in common: they have no sense of balance. The exoskeleton cannot react to unexpected disturbances. Because of that, the user has to take the lead in making a balance recovery. This is especially troublesome when the user has balance impairments.To tackle these issues, the control of exoskeletons needs to be improved. Specifically, if the device can assist in balance control in a way that feels natural and intuitive to the user, the device is less likely to conflict with the user's intention. To realize such human-like balance controllers, we must first understand what human balance is, and investigate the way healthy humans regain their balance when it is lost. This might be investigated by applying perturbations to experimental subjects. Disturbances will lead to a balance recovery response involving various balance strategies, such as adjustments in foot placement, or modulation of ankle and hip moments.The focus of this thesis is on human balance recovery in response to external perturbations during walking. Because we mainly deal with walking, foot placement adjustments are expected to be a major, crucial strategy in balance control. This strategy might be replicated using simple inverted pendulum models of walking, which could provide a basis for predicting human-like responses.

    U2 - 10.3990/1.9789036544412

    DO - 10.3990/1.9789036544412

    M3 - PhD Thesis - Research UT, graduation UT

    SN - 978-90-365-4441-2

    PB - University of Twente

    CY - Enschede

    ER -