This paper presents and critically discusses an approach for knowledge modelling and reasoning in a system for monitoring and coaching of senior adults. We present a modular architecture of the system and a detailed description of the modelling methodology which originates from the field of multi-criteria decision modelling and differs from the commonly used ones in this problem domain. The methodology has several characteristics that make it fit well to the purpose in this application and initial insights from potential users are positive. A discussion of the suitability of the proposed methodology for knowledge representation and reasoning in the given problem domain is provided, with an outline of its potential benefits and drawbacks and a comparison with the ontological approach.

Several modeling studies, which address neuromuscular control in impaired unperturbed gaits, were performed to predict human strategies to cope with lateral asymmetries in the body. Experimental studies show different step length and stance time relations between limbs in walking of stroke patients. By extension of a bipedal SLIP (spring-loaded inverted pendulum) based model and the corresponding controllers to 3D space, we focus on different features of the pathologic gaits. The introduced model is based on an extension of the FMCH (force modulated compliant hip) and VBLA (velocity based leg adjustment) model to 3D space. With the proposed model, asymmetric leg and control parameters can result in similar gait patterns as observed in experiments. These parameters comprise hip stiffness and rest angles in FMCH models and the tuning parameter of VBLA for foot placement. It is shown that asymmetries in muscle properties (e.g. stiffness) and leg adjustment can play an important role in generating pathologic gaits.

The number of mechanical degrees of freedom (DoFs) within rehabilitation robots directly influences the scope of the movements that a subject can perform when training walking. Currently, gait rehabilitation robots have a limited number of mechanical DoFs, as a consequence this limits the movements these robots can make possible. In this paper, the novel gait rehabilitation system CORBYS is presented which consists of the mobile platform and a powered orthosis which is attached to the platform. The CORBYS powered orthosis has 16 DoFs enabling more physiological movements, making it a state-of-the-art gait rehabilitation robotic system. With the sufficient number of DoFs to enable natural-like walking, the CORBYS robotic system enables the integration of the “learning gait by therapist demonstration” paradigm. This paper presents the fully integrated functional CORBYS gait rehabilitation system, with the focus on the implementation aspects which enable generation of the reference gait trajectory through learning by therapist demonstration, and the use of the generated trajectory in the robotic therapy session. The results of the initial evaluation of the robotic system obtained in tests with a selected patient are given in the paper.

Replacing the traditional balance training task with tasks in virtual environment in subjects after stroke was a step toward independent rehabilitation. The virtual reality supported balance training relieved the physiotherapist from strenuous work, besides, also enabled rehabilitation treatment on individuals home and functional balance ability assessment. However, adding a haptic floor to the virtual reality balance training enhanced the approach to the postural response training and assessment. We have developed a two degrees of freedom, position controlled, haptic floor plates providing postural perturbations according to the collisions with obstacles in the virtual environment. The subject generated a postural response to stabilize the body during balance training. Such task represents for the subject with stroke a serious challenge. However, the standing frame prevented the possibility to fall. The virtual reality supported balance training with haptic floor was so far carried out in healthy individuals and tested in single subject after stroke. A basic response characteristic of haptic floor was examined. The preliminary results demonstrated a sufficient dynamics of the haptic floor and great acceptability among the participating subjects. Thus the additional haptic feedback in goal based balance training may contribute to the improvement of subject's functional balance and postural abilities and so increase the quality of life. However, to confirm the clinical applicability of the haptic floor in balance training and evaluation of postural responses, a further study including clinical tests within a larger group of stroke population should be carried out.

This paper describes two-legged mechanical structure with ankle, knee and hip joints that is capable of walking in naturally stable walking cycle on downhill slope without presence of energy source. Bipedal model has elastic strings attached to the designated places that imitate a part of human muscular-skeletal system. By combining spring-like properties with passive walking principles we accomplish energy exchanges between biped segments during stance and swing phases that also simultaneously facilitate solution to foot clearance problem during swing phase by enabling the biped to perform rocking movement in lateral plane. We designed and examined behavior of the biped when walking with extended and flexible knees. The observed joint trajectories in the configuration with flexed knees were very similar to those observed in normal human walking. The results show new perspectives on future bipedal robots development and for studying involvement of particular muscle in human gait.

In the paper an application of Kalman filter technique in rehabilitation engineering is presented. The functional electrical stimulation (FES) is frequently applied motor augmentation aid in incomplete spinal cord injury that is in a need for modification. Therefore the gait reeducation system was proposed that successfully applies the presented algorithm. The proposed sensory system is equipped with dual-axial accelerometer and a gyro and is placed at the shank of the paretic leg. The data assessed present input into mathematical algorithms applied for shank angle estimation. The algorithm is based on Kalman filter estimating the angle error and correcting the actual measurement. The proposed method was tested during healthy subjects walking on even terrain and treadmill. Afterwards the comparison with optical measurement system Vicon was performed and the triggering of the KES was also tested. Outcome of the measurements clearly shows how sensory integration algorithm may serve the purpose and its precedence over the single sensor applications.