Locomotor Adaptation to an Asymmetric Force on the Human Pelvis Directed Along the Right Leg

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 24; no. 8; pp. 872 - 881
• Main Authors: Vashista, Vineet, Martelli, Dario, Agrawal, Sunil K.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.08.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Asymmetry; Cable-driven robot; Force; gait asymmetry; hemiparetic gait; Hip; Legged locomotion; Muscles; Pelvis; rehabilitation robotics; Symmetry; Training; weight bearing
• ISSN: 1534-4320; 1558-0210; 1558-0210
• DOI: 10.1109/TNSRE.2015.2474303

In this work, we study locomotor adaptation in healthy adults when an asymmetric force vector is applied to the pelvis directed along the right leg. A cable-driven Active Tethered Pelvic Assist Device (A-TPAD) is used to apply an external force on the pelvis, specific to a subject's gait pattern. The force vector is intended to provide external weight bearing during walking and modify the durations of limb supports. The motivation is to use this paradigm to improve weight bearing and stance phase symmetry in individuals with hemiparesis. An experiment with nine healthy subjects was conducted. The results show significant changes in the gait kinematics and kinetics while the healthy subjects developed temporal and spatial asymmetry in gait pattern in response to the applied force vector. This was followed by after effects once the applied force vector was removed. The adaptation to the applied force resulted in asymmetry in stance phase timing and lower limb muscle activity. We believe this paradigm, when extended to individuals with hemiparesis, can show improvements in weight bearing capability with positive effects on gait symmetry and walking speed.