Effects of robotic guidance on the coordination of locomotion

Moreno, Juan C; Barroso, Filipe; Farina, Dario; Gizzi, Leonardo; Santos, Cristina; Molinari, Marco; Pons, José L

doi:10.1186/1743-0003-10-79

Journal of NeuroEngineering and Rehabilitation

Table 2 Joint forces in the sagittal plane during robotic-guided walking

From: Effects of robotic guidance on the coordination of locomotion

		A) Hip kinetics - Forces actuating in robotic hip joint
		Phase 1 initial double support (0-10% GC)		Phase 2 mid stance (10-30% GC)		Phase 3 terminal stance (30-50% GC)		Phase 4 preswing (50-60% GC)		Phase 5 initial swing (60-73% GC)		Phase 6 mid swing (73-87% GC)		Phase 7 terminal swing (87-100% GC)		ROF (1)
		Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.
20% GF	1.5 Km/h speed	−252	−206	−229	−12	−9	240	117	244	−194	110	−349	−202	−340	−245	593
	2.0 Km/h speed	−257	−193	−195	−18	−11	172	41	182	−126	45	−287	−130	−288	−238	470
	2.5 Km/h speed	−228	−173	−200	−1	3	129	−61	96	−171	−43	−226	−161	−204	−153	357
40% GF	1.5 Km/h speed	−460	−428	−444	−160	−155	85	13	107	−184	37	−497	−195	−483	−410	604
	2.0 Km/h speed	−397	−298	−384	−95	−93	31	−171	36	−191	−134	−374	−200	−377	−296	433
	2.5 Km/h speed	−364	−290	−324	−22	−20	104	−214	89	−292	−221	−315	−287	−328	−246	468
70% GF	1.5 Km/h speed	−683	−610	−639	−158	−151	6	−177	24	−168	21	−557	−165	−632	−485	707
	2.0 Km/h speed	−645	−592	−601	−133	−130	0	−325	−6	−304	−9	−508	−98	−615	−423	645
	2.5 Km/h speed	−643	−535	−551	−94	−90	39	−453	−11	−454	−190	−287	−178	−533	−295	682
100% GF	1.5 Km/h speed	−714	−518	−507	152	160	232	−306	157	−316	18	−535	−336	−707	−536	946
100% GF	2.0 Km/h speed	−756	−591	−572	185	195	291	−479	261	−559	14	−541	−17	−636	−339	1046
	2.5 Km/h speed	−854	−694	−680	−25	−21	45	−654	7	−662	15	−507	−18	−738	−385	899
		B) Knee Kinetics - Forces actuating in robotic knee joint
		Phase 1 initial double support (0-10% GC)		Phase 2 mid stance (10-30% GC)		Phase 3 terminal stance (30-50% GC)		Phase 4 preswing (50-60% GC)		Phase 5 initial swing (60-73% GC)		Phase 6 mid swing (73-87% GC)		Phase 7 terminal swing (87-100% GC)		ROF (1)
		Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.	Min.	Max.
20% GF	1.5 Km/h speed	28,4	121	−14	70,3	47,1	103	−110	45,4	−232	−116	−225	−33	−27	135	367
	2.0 Km/h speed	−14	93,2	−13	27	24,1	74,6	−77	31,1	−221	−79	−227	−47	−42	136	363
	2.5 Km/h speed	20,3	80,3	−27	23,1	7,53	30,2	−95	8,08	−138	−62	−148	−35	−30	144	292
40% GF	1.5 Km/h speed	156	262	118	152	102	195	−138	94,2	−297	−150	−283	8,94	24,9	249	559
	2.0 Km/h speed	143	232	86,5	139	97,1	127	−105	89	−219	−101	−218	−12	0,22	220	451
	2.5 Km/h speed	83,5	185	49,4	117	77,6	121	−66	75,4	−152	−61	−168	−18	−8,8	242	410
70% GF	1.5 Km/h speed	251	364	169	246	124	183	−25	117	−270	−37	−240	−8,5	1,09	362	633
	2.0 Km/h speed	250	343	173	243	116	187	−23	109	−311	−42	−286	6,97	13,2	333	654
	2.5 Km/h speed	248	344	172	249	87,7	172	49,9	84,5	−226	68,3	−244	−36	−26	330	588
100% GF	1.5 Km/h speed	236	408	74,6	229	−68	76,9	−79	−2,6	−286	−23	−165	50,7	62,5	394	695
	2.0 Km/h speed	256	392	19,9	243	−88	17,9	−108	37,4	−324	79,7	−308	−12	−5,4	348	716
	2.5 Km/h speed	286	415	88,2	281	−5,4	98,5	−33	101	−351	98	−324	33,9	43,2	407	766
(1) ROF is the range of forces

Minimum and maximum forces and ROF per gait phase for each condition.

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ISSN: 1743-0003

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