This page presents an excerpt of the available research material, including the Preliminary Pages, Table of Contents, Abstract, Chapters One to Five, and References. It provides a comprehensive overview of the study, enhancing readability and accessibility for students, and researchers seeking complete material on “Design and Evaluation of Pediatric Gait Rehabilitation Robots”.
I am profoundly grateful to everyone who contributed to the successful completion of this project. I am especially grateful to my Supervisor (Name), the Head of Department (Name), and the Lecturers in the Department of Mechanical Engineering for their invaluable guidance and support. I also acknowledge the contributions of authors and scholars whose works on Design and Evaluation of Pediatric Gait Rehabilitation Robots provided essential insights. Special thanks go to my study area (and any funding organizations, if applicable) for their financial assistance. I am equally thankful to stakeholders, including mentors, teachers, and colleagues, for their encouragement and support. Finally, I deeply appreciate my family and friends for their patience and unwavering support throughout this journey. Your contributions have been instrumental in making this research a reality.
Gait therapy methodologies were studied and analyzed for their potential for pediatric patients. Using data from heel, metatarsal, and toe trajectories, a nominal gait trajectory was determined using Fourier transforms for each foot point. These average trajectories were used as a basis of evaluating each gait therapy mechanism.
An existing gait therapy device (called ICARE) previously designed by researchers, including engineers at the University of Nebraska-Lincoln, was redesigned to accommodate pediatric patients. Unlike many existing designs, the pediatric ICARE did not over- or under-constrain the patient's leg, allowing for repeated, comfortable, easily-adjusted gait motions. This design was assessed under clinical testing and deemed to be acceptable.
A gait rehabilitation device was designed to interface with both pediatric and adult patients and more closely replicate the gait-like metatarsal trajectory compared to an elliptical machine. To accomplish this task, the nominal gait path was adjusted to accommodate for rotation about the toe, which generated a new trajectory that was tangent to itself at the midpoint of the stride. Using knowledge of the bio-mechanics of the foot, the gait path was analyzed for its applicability to the general population.
Several trajectory-replication methods were evaluated, and the crank-slider mechanism was chosen for its superior performance and ability to mimic the gait path adequately. Adjustments were made to the gait path to further optimize its realization through the crank-slider mechanism.
Two prototypes were constructed according to the slider-crank mechanism to replicate the gait path identified. The first prototype, while more accurately tracing the gait path, showed difficulty in power transmission and excessive cam forces. This prototype was ultimately rejected. The second prototype was significantly more robust. However, it lacked several key aspects of the original design that were important to matching the design goals. Ultimately, the second prototype was recommended for further work in gait-replication research.
1.1 Introduction
… As a prelude to other parts of this study, this chapter will discuss the background upon which this study was initiated, the statement of problems that led to this study, the Aim and Objectives of the study. Others are Significance of the study, Scope of work, Research hypothesis and questions, Limitation of the study and Definition of technical terms.…
