Browsing by Author "Schroeder, Ryan T."
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- ItemOpen AccessGait Entrainment in Coupled Oscillator Systems: Clarifying the Role of Energy Optimization in Human Walking(2020-01-13) Schroeder, Ryan T.; Bertram, John E. A.; Croft, James L.; Sawicki, Gregory S.; von Tscharner, Vinzenz; Shrive, Nigel; Cluff, Tyler; Rubenson, JonasEmpirical evidence suggests that parameters of human gait (e.g. step frequency, step length) tend to minimize energy expenditure. However, it is unclear if individuals can adapt to dynamic environments in real time, i.e. continuously optimize energy expenditure, and to what extent. Two coupled oscillator systems were used to test the learned interactions of individuals within dynamic environments: (1) experienced farmworkers carrying oscillating loads on a flexible bamboo pole and (2) individuals walking on a treadmill while strapped to a mechatronics oscillator system providing periodic forces to the body. Reductionist trajectory optimization models predicted energy-minimizing gait interactions within the coupled oscillator systems and were compared to experimental data assessed with linear mixed models. On average, pole carriers significantly adjusted step frequency by 3.3% (0.067 Hz, p=0.014) to accommodate the bamboo pole – consistent with model predictions of energy savings. Novice subjects entrained (i.e. synchronized) their step frequency with machine oscillations up to ±10% of preferred step frequency and at amplitudes as low as 5% body weight (or ~33 N). Still, some subjects rarely entrained at all, and many exhibited transient entrainment, i.e. they drifted in and out of step frequencies matching the machine oscillations. Overall, subject entrainment was more robust and consistent with lower frequencies and higher amplitudes (20-30% of body weight). Although no systematic difference was found between the metabolic consumption of subjects during and not during entrainment, the net mechanical work done on subjects by the force oscillations had a strong effect on metabolic output (p<0.0001). Net work was largely determined by the alignment of oscillation forces within the gait cycle. Both the optimization model and subjects aligned force oscillations with their body velocity to increase positive power. All in all, it seems that subjects prefer entrainment with environmental oscillations under certain circumstances. However, entrainment does not appear to be motivated by energetic cost, at least not directly and not as a first priority. It is possible that individuals stabilize interactions with the environment (e.g. entrainment) as a prerequisite for effective feedforward and/or feedback gait control.
- ItemOpen AccessMinimally actuated walking: Identifying core challenges to economical legged locomotion reveals novel solutions(Frontiers Media, 2018-05-22) Schroeder, Ryan T.; Bertram, John Edward ArthurTerrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In the context of human walking, we apply control optimization as a design strategy for simple bipedal walking machines with minimal actuation. This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers. Furthermore, we extrapolate the approach to a novel application—a theoretical exoskeleton attached to the trunk of a human walker—to demonstrate how coordinated efforts between bipedal actuation and a machine oscillator can potentially alleviate a meaningful portion of energetic exertion associated with leg function during human walking.
- ItemOpen AccessProperties of traditional bamboo carrying poles have implications for user interactions(Public Library of Science (PLoS), 2018-05-10) Schroeder, Ryan T.; Croft, James L.; Ngo, Giang D.; Bertram, John Edward ArthurCompliant bamboo poles have long been used for load carriage in Asian cultures. Although this custom differs from Western conventions of rigid body attachments (e.g. backpack), potential benefits include reduced peak shoulder forces as well as metabolic transport cost savings. Evidence that carrying a flexible pole benefits locomotion remains mixed, perhaps in part because the properties of pole design (e.g. bamboo material, structural geometry, etc.) have largely been neglected. These properties influence vibrational forces and consequently, the energy required by the user to manage the oscillations. We collected authentic bamboo poles from northern Vietnam and characterized their design parameters. Four poles were extensively studied in the lab (load-deflection testing, resonance testing, and computed tomography scans of three-dimensional geometry), and 10 others were tested at a rural Vietnamese farm site (basic measures of form and resonance). A mass-spring-damper model was used to characterize a relationship between resonant frequency (which affects the energetics of the pole-carrier system) and pole properties concerning stiffness, damping, etc. Model predictions of resonant frequencies agreed well with empirical data. Although measured properties suggest the poles are not optimally designed to reduce peak oscillation forces, resonant frequencies are within range of a typical human walking cadence, and this is likely to have a consequence on locomotion energetics.
- ItemOpen AccessQuantitative Assessment of Gait During Rehabilitation Using an Instrumented Treadmill(2023-09-22) Fitzsimons, Karson; Bertram, John E.A.; Dukelow, Sean P.; Condliffe, Elizabeth G.; Schroeder, Ryan T.; Manocha, Ranita H.Kinetic gait analysis of subacute stroke is a relatively unexplored area of study. Chronic stroke literature on the subject is extensive but does not capture the time period where the extent of recovery is greatest. Translating methods of gait analysis seen in research to a clinical setting is subject to many additional requirements which have previously prevented such investigations. The work presented in this thesis represents the first investigation using NeuroRecoVR, a new instrumented treadmill facility located within an inpatient rehabilitation gym. Working directly with inpatient physiotherapists, this study examines kinetic based gait parameters to quantify levels of impairment in subacute stroke. Recovery is most readily seen in changes in the walking speed of an individual, with many other gait parameters changing alongside walking speed. Therefor the relationships for all parameters of interest to walking speed are investigated in both neurologically intact controls (n = 14) and those undergoing rehabilitation for subacute stroke (n = 15). Parameters including spatiotemporal measures, forces, impulses, center of mass trajectory, center of pressure variability, and measures of symmetry were calculated for both groups. Subacute stroke participants have higher levels of asymmetry, increased instability, and altered gait dynamics compared to neurologically intact controls. The extent of recovery for each parameter was examined in a subset of stroke patients who took part in instrumented treadmill training over 1-2 months of rehabilitation (n = 4; mean ±SD age = 65 ±17; mean ±SD days post stroke at first session = 79 ±67). These participants showed improvements in stability, walking speed, and symmetry over the course of rehabilitation. These results show the benefit and potential for the use of kinetic analysis for aspects of both research and rehabilitation