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Jan-Matthias Braun, Florentin Wörgötter, and Poramate Manoonpong (2014)

Internal Models Support Specic Gaits in Orthotic Devices

WSPC Proceedings:1--8.  (export entry)


Patients use orthoses and prosthesis for the lower limbs to support and enable movements, they can not or only with diculties perform themselves. Because traditional devices support only a limited set of movements, patients are re- stricted in their mobility. A possible approach to overcome such limitations is to supply the patient|via the orthosis|with situation-dependent gait models. To achieve this, we present a method for gait recognition using model invalidation. We show that these models are capable to predict the individ- ual patient's movements and supply the correct gait. We investigate the sys- tem's accuracy and robustness on a Knee-Ankle-Foot-Orthosis, introducing behaviour changes depending on the patient's current walking situation. We conclude that the here presented model-based support of di erent gaits has the power to enhance the patient's mobility.