Locomotor patterns during obstacle avoidance in children with cerebral palsy
Germana CappelliniFrancesca Sylos‐LabiniMichael J. MacLellanCarla AssenzaLaura LiberniniDaniela MorelliFrancesco LacquanitiYuri P. Ivanenko
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Obstacle avoidance
The ability to walk and thus change one’s position within the environment is a normal daily activity for most people. One does not consciously need to think how the walking pattern should be adapted to the environmental requirements. However, this might occur when normal walking becomes impaired, for example after an injury. The work in this thesis centers on one of the first motor learning experiments that evaluates changes in the acquisition and performance of a task involving the lower extremity. The functional task consists of avoiding an obstacle. While walking on a treadmill, subjects had to step repetitively as low as possible over a randomly approaching obstacle, without touching it. Foot clearance over the obstacle, number of obstacle hits, changes in muscle activity and joint kinematics were measured and analyzed. The main goals of the experiments were to investigate (1) the underlying mechanisms involved in learning to adapt locomotion, and (2) the influence of factors such as age or disease on this process. The results from these experiments will support further recommendations for rehabilitation or sports. In chapter 1, the control of locomotion and ‘motor learning’ is reviewed. The other chapters focus on the experiments. Chapter 2 describes whether the obstacle avoidance task could be transferred from one leg to the other and chapter 3 describes what occurs with the performance of the task, when ankle-foot and / or knee orthoses fixate the joints of the leg that does not step over the obstacle. Chapter 4 describes the effect on the H-reflex when learning such a locomotor task. Chapter 5 describes the differences between healthy young and elderly subjects when learning such a task. Finally, in chapter 6, differences are described between healthy subjects and subjects who recovered well from an incomplete spinal cord injury.
Obstacle avoidance
Motor Learning
Treadmill
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We examined whether people with Parkinson disease (PD) have difficulty negotiating a gait obstruction in threatening (gait path and obstacle raised above floor) and nonthreatening (gait path and obstacle at floor level) contexts. Ten PD patients were tested in both Meds OFF and Meds ON states, along with 10 age-matched controls. Participants completed 18 gait trials, walking 4.7 m at a self-selected speed while attempting to cross an obstacle 0.15 m in height placed near the centre point of the walkway. Kinematic and kinetic parameters were measured, and obstacle contact errors were tallied. Results indicated that PD patients made more obstacle contacts than control participants in the threatening context. Successful crossings by PD patients in the threatening condition also exhibited kinematic differences, with Meds OFF PD patients making shorter crossing steps, with decreased initiation and crossing velocities. The findings from this study lend support to the theory that PD patients rely on directed attention to initiate and control movement, while providing indication that the motor improvements provided by current PD pharmacotherapy may be limited by contextual interference. These movement patterns may be placing PD patients at risk of obstacle contact and falling.
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Falls often occur due to spontaneous loss of balance, but tripping over an obstacle during gait is also a frequent cause of falls (Sheldon, 1960; Stolze et al., 2004). Obstacle avoidance requires that appropriate modifications of the ongoing cyclical movement be initiated and completed in time. We evaluated the available response time to avoid a virtual obstacle in 26 Parkinson's disease (PD) patients (in the off-medication state) and 26 controls (18 elderly and 8 young), using a virtual obstacle avoidance task during visually cued treadmill walking. To maintain a stable baseline of stride length and visual attention, participants stepped on virtual "stepping stones" projected onto a treadmill belt. Treadmill speed and stepping stone spacing were matched to overground walking (speed and stride length) for each individual. Unpredictably, a stepping stone changed color, indicating that it was an obstacle. Participants were instructed to try to step short to avoid the obstacle. By using an obstacle that appeared at a precise instant, this task probed the time interval required for processing new information and implementing gait cycle modifications. Probability of successful avoidance of an obstacle was strongly associated with the time of obstacle appearance, with earlier-appearing obstacles being more easily avoided. Age was positively correlated (p < 0.001) with the time required to successfully avoid obstacles. Nonetheless, the PD group required significantly more time than controls (p = 0.001) to achieve equivalent obstacle-avoidance success rates after accounting for the effect of age. Slowing of gait adaptability could contribute to high fall risk in elderly and PD. Possible mechanisms may include disturbances in motor planning, movement execution, or disordered response inhibition.
Tripping
Obstacle avoidance
STRIDE
Treadmill
Cued speech
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Today, many industries are using various technology due to their high level of performance and reliability. The “real time obstacle avoidance” deals with detection and avoidance of various obstacle found in an environment. Obstacle avoidance may be divided into two parts, obstacle detection and avoidance control. For obstacle detection and avoidance, requires the integration of many sensors according to their task. Some sensing devices used for obstacle detection are infrared sensor and ultrasonic sensor. It has an infrared sensor which are used to sense the obstacle coming in between the path. It will move in particular direction and avoid the obstacle which is coming in its path.
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Obstacle avoidance
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Бұл зерттеужұмысындaКaно моделітурaлы жәнеоғaн қaтыстытолықмәліметберілгенжәнеуниверситетстуденттерінебaғыттaлғaн қолдaнбaлы (кейстік)зерттеужүргізілген.АхметЯссaуи университетініңстуденттеріүшін Кaно моделіқолдaнылғaн, олaрдың жоғaры білімберусaпaсынa қоятынмaңыздытaлaптaры, яғнисaпaлық қaжеттіліктері,олaрдың мaңыздылығытурaлы жәнесaпaлық қaжеттіліктерінеқaтыстыөз университетінқaлaй бaғaлaйтындығытурaлы сұрaқтaр қойылғaн. Осы зерттеудіңмaқсaты АхметЯсaуи университетіндетуризмменеджментіжәнеқaржы бaкaлaвриaт бaғдaрлaмaлaрыныңсaпaсынa қaтыстыстуденттердіңқaжеттіліктерінaнықтaу, студенттердіңқaнaғaттaну, қaнaғaттaнбaу дәрежелерінбелгілеу,білімберусaпaсын aнықтaу мен жетілдіружолдaрын тaлдaу болыптaбылaды. Осы мaқсaтқaжетуүшін, ең aлдыменКaно сaуaлнaмaсы түзіліп,116 студенткеқолдaнылдыжәнебілімберугежәнеоның сaпaсынa қaтыстыстуденттердіңтaлaптaры мен қaжеттіліктерітоптықжұмыстaрaрқылыaнықтaлды. Екіншіден,бұл aнықтaлғaн тaлaптaр мен қaжеттіліктерКaно бaғaлaу кестесіменжіктелді.Осылaйшa, сaпa тaлaптaры төрт сaнaтқa бөлінді:болуытиіс, бір өлшемді,тaртымдыжәнебейтaрaп.Соңындa,қaнaғaттaну мен қaнaғaттaнбaудың мәндеріесептелдіжәнестуденттердіңқaнaғaттaну мен қaнaғaттaнбaу деңгейлерінжоғaрылaту мен төмендетудеосытaлaптaр мен қaжеттіліктердіңрөліaйқын aнықтaлды.Түйінсөздер:сaпa, сaпaлық қaжеттіліктер,білімберусaпaсы, Кaно моделі.
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The nationally-recognized Susquehanna
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singing that will take you to new
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In view of the problems of low obstacle avoidance and low efficiency in traditional unmanned vehicle in automatic obstacle avoidance, multi-feature fusion automatic obstacle avoidance method in unmanned vehicle is proposed. Optimise unmanned vehicle obstacle avoidance objective function, measure target obstacle distance, and calculate the braking distance. Based on this, unmanned vehicle dynamics model is established and the obstacle is located and determined. Multi-feature fusion design of unmanned vehicle visual automatic obstruction steps is made and finally the process of obstacle avoidance is analysed. The experimental results show that the use of improved visual automatic obstacle avoidance technology has certain advantages in target obstacle positioning and obstacle avoidance accuracy, which are superior to those of traditional obstacle avoidance technology.
Obstacle avoidance
Feature (linguistics)
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