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--- start [2019/02/11 16:46]
Andre Seyfarth [News]
+++ start [2019/04/05 21:44]
Andre Seyfarth [News]
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 <slider ::biobiped3.jpg>
 ===== Robots =====
 To investigate human and animal locomotion, a number of legged robots were developed in our group since 2004. Read about the bipedal robot [[projects:projects_biobiped|BioBiped]] or the research in the [[projects:projects_locomorph|Locomorph]] project focusing on morphology and morphosis strategies in locomotion.
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 ====== News ======
-{{::ansymb_logo_i.png?90 |}} [[http://www.ansymb.tu-darmstadt.de/| Teaching program: Analysis and Synthesis of Human Movements]], Darmstadt, Germany.
+**Movement Academy on Parkinson Gait** The Lauflabor organizes the [[http://wiki.ifs-tud.de/biomechanik/aktuelle_themen/bewak2019|first movement academy]] in Darmstadt on June 4 and 5, 2019
+**Dynamic Walking 2019** is announced! Click [[http://dynamicwalking.org/index.php/dw/2019|here]] for details.
 **Lauflabor Best Student Thesis Award 2018** Apply now until June 30, 2019. Click here for details:
 {{ :ll02_best_thesis_award18.pdf | Flyer }}
-\\
+ {{::ansymb_logo_i.png?90 |}}
+**Teaching course ANSYMB II running this summer term!** [[http://www.ansymb.tu-darmstadt.de/|   Analysis and Synthesis of Human Movements]]
 ====== Pick of the Month  ======
-==== Can exoskeletons be helpful to improve daily mobility?  ====
+==== Concerted control concept in locomotion  ====
-{{ :exo.jpg?nolink&200|}}
+ {{ :fig_2.png?nolink&200|}} {{ :fig_1a.png?nolink&200|}}
-A recently in the Journal of NeuroEngineering and Rehabilitation published article with the title [[https://doi.org/10.1186/s12984-018-0458-8|Mobility related physical and functional losses due to aging and disease - a motivation for lower limb exoskeletonstargets]] adresses the topic.
+A new concept termed concerted control is introduced in our recently published paper in the //IEEE Transactions on Medical Robotics and Bionics// journal titled [[https://doi.org/10.1109/TMRB.2019.2895891|Concerted control of stance and balance locomotor subfunctions -Leg force as a conductor]].
-If you want to know more about it have a look at the following abstract or visit [[https://doi.org/10.1186/s12984-018-0458-8|JNER]] for the whole publication.
 **Abstract:**
-**Background:** Physical and functional losses due to aging and diseases decrease human mobility, independence, and quality of life. This study is aimed at summarizing and quantifying these losses in order to motivate solutions to overcome them with a special focus on the possibilities by using lower limb exoskeletons.
+In human locomotion, the complex structure of the human body is controlled such that conceptual models (e.g., the spring-loaded-inverted-pendulum model) can describe the significant features. This suggests that the interplay of the complex control and musculoskeletal systems projects into a low-dimensional space to perform different movements. Such simplification can involve splitting the task into different modular control subproblems (locomotor subfunctions) that can be solved individually. Here, we asked how two locomotor subfunctions, namely stance, and balance, could be coordinated to generate repeatable and robust motor commands. We developed a simple neuromechanical hopping model, based on decoupling axial and perpendicular leg forces. For this, bouncing behaviors and trunk posture control can be addressed by a knee extensor muscle and biarticular thigh muscles, respectively. We suggest utilizing the leg force feedback as interplay among environment, body mechanics, and sensory control to synchronize the decoupled subfunctions. We evaluated this approach in push recovery, attenuating ground drop perturbations and by investigating its sensitivity to the reflex gain as the control parameter. Leg force feedback can improve the robustness of hopping by generating rhythmic hopping patterns. Such a parsimony model-based control concept could simplify controlling assistive devices, such as exoskeletons and prostheses.
-**Methods:** A narrative literature review was performed to determine a broad range of mobility-related physical and functional measures that are affected by aging and selected cardiovascular, respiratory, musculoskeletal, and neurological diseases.
-**Results:** The study identified that decreases in limb maximum muscle force and power (33% and 49%, respectively,
-–75 yrs) and in maximum oxygen consumption (40%, 20–80 yrs) occur for older adults compared to young adults.
-Reaction times more than double (18–90 yrs) and losses in the visual, vestibular, and somatosensory systems were
-reported. Additionally, we found decreases in steps per day (75%, 60–85 yrs), maximum walking speed (24%, 25–75 yrs), and maximum six-minute and self-selected walking speed (38% and 21%, respectively, 20–85 yrs), while we found increases in the number of falls relative to the number of steps per day (800%), injuries due to falls (472%, 30–90 yrs) and deaths caused by fall (4000%, 65–90 yrs). Measures were identified to be worse for individuals with
-impaired mobility. Additional detrimental effects identified for them were the loss of upright standing and locomotion, freezing in movement, joint stress, pain, and changes in gait patterns.
-**Discussion:** This review shows that aging and chronic conditions result in wide-ranging losses in physical and sensory capabilities. While the impact of these losses are relatively modest for level walking, they become limiting during more demanding tasks such as walking on inclined ground, climbing stairs, or walking over longer periods, and especially when coupled with a debilitating disease. As the physical and functional parameters are closely related,
-we believe that lost functional capabilities can be indirectly improved by training of the physical capabilities. However, assistive devices can supplement the lost functional capabilities directly by compensating for losses with propulsion, weight support, and balance support.
-**Conclusions:** Exoskeletons are a new generation of assistive devices that have the potential to provide both, training capabilities and functional compensation, to enhance human mobility.
-\\
+**Keywords:** Locomotor subfunction, positive force feedback, reflex control, sensor-motor map.
-Click [[https://doi.org/10.1186/s12984-018-0458-8|JNER]] for the whole article.