東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

A Novel Robotic Pedaling Paradigm to...

Ruopp, Tom S. F.,

Linked to FindBook

Google Book

Amazon

博客來

A Novel Robotic Pedaling Paradigm to Improve Lower Limb Movement Post-Stroke /

Record Type:	Electronic resources : Monograph/item
Title/Author:	A Novel Robotic Pedaling Paradigm to Improve Lower Limb Movement Post-Stroke // Tom S. F Ruopp.
Author:	Ruopp, Tom S. F.,
Description:	1 electronic resource (191 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 86-09, Section: B.
Contained By:	Dissertations Abstracts International86-09B.
Subject:	Engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31847747
ISBN:	9798310151772

A Novel Robotic Pedaling Paradigm to Improve Lower Limb Movement Post-Stroke /
Ruopp, Tom S. F.,

A Novel Robotic Pedaling Paradigm to Improve Lower Limb Movement Post-Stroke /Tom S. F Ruopp. - 1 electronic resource (191 pages)

Source: Dissertations Abstracts International, Volume: 86-09, Section: B.

Prior work in our lab revealed that while impaired paretic neuromuscular output contributes to movement difficulties post-stroke, compensation is more related to interlimb coordination (ILC) deficits. Specifically, ILC deficits were revealed in the context of lower limb split-crank pedaling. Participants who demonstrated larger levels of compensation during a conventional, solid-crank pedaling task also demonstrated larger deficits in ILC i.e. maintaining a 180-degree phase relationship during split-crank. To address this deficit, our lab created a novel, split-crank pedaling robot named CUped. CUped (pronounced Cupid) is so called because it compels use of the paretic limb during a movement that resembles pedaling. CUped can create a training environment where ILC can be practiced while emphasizing output of the paretic limb. The purpose of this dissertation was to determine appropriate robotic control schemes and visual feedback methods for CUped.To achieve this purpose, we evaluated ILC, paretic work output, and velocity pedaling strategy during split-crank pedaling. Aim 1 investigated three proportional control schemes: Assist, Resist, and Assist+Resist. Control schemes provided torque to restore 180-degree phasing proportional to the phasing error. Assist provided forward-direction torque to the lagging limb while resist provided reverse-direction torque to the leading limb. Assist+Resist provided both control actions. Results indicated that Assist+Resist facilitated the lowest interlimb phasing errors while mitigating loss of paretic limb work. However, participants adopted a suboptimal pedaling strategy and performance was not retained during Post-test. Aim 2 tested whether simple visual feedback could further reduce phasing error as well as mitigate suboptimal pedaling strategy and allow retention during Post. Additionally, a constant and randomly-varying error augmentation gain schedule was examined to determine whether pedaling could further be improved. Interestingly, neither simple visual feedback nor error augmentation improved performance. We hypothesized that simple visual feedback did not adequately provide saliency of the task goal relative to the displayed error. Thus, for Aim 3 we tested whether additional visual feedback elements of reward and punishment were sufficient to improve pedaling performance. Results indicated that participants do indeed improve pedaling performance when presented with simple visual feedback in addition to elements of reward and punishment. Overall, these studies demonstrate that CUped can provide a proper environment to promote therapeutic behavior as well as provide important knowledge about lower limb deficits after stroke needed to drive the development of CUped forward.

English

ISBN: 9798310151772Subjects--Topical Terms:

586835
Engineering.
Subjects--Index Terms:

Interlimb coordination

A Novel Robotic Pedaling Paradigm to Improve Lower Limb Movement Post-Stroke /
LDR:04291nmm a22004453i 4500 001 2437175
005 20251118105039.5
006 m o d
007 cr|nu||||||||
008 261011s2025 miu||||||m |||||||eng d
020 $a 9798310151772
035 $a (MiAaPQD)AAI31847747
035 $a AAI31847747
040 $a MiAaPQD $b eng $c MiAaPQD $e rda
100 1 $a Ruopp, Tom S. F., $e author. $3 3828074
245 1 2 $a A Novel Robotic Pedaling Paradigm to Improve Lower Limb Movement Post-Stroke / $c Tom S. F Ruopp.
264 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2025
300 $a 1 electronic resource (191 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Dissertations Abstracts International, Volume: 86-09, Section: B.
500 $a Advisors: Schindler-Ivens, Sheila; Schmit, Brian D. Committee members: Voglewede, Philip; Beardsley, Scott; Schimmels, Joseph.
502 $b Ph.D. $c Marquette University $d 2025.
520 $a Prior work in our lab revealed that while impaired paretic neuromuscular output contributes to movement difficulties post-stroke, compensation is more related to interlimb coordination (ILC) deficits. Specifically, ILC deficits were revealed in the context of lower limb split-crank pedaling. Participants who demonstrated larger levels of compensation during a conventional, solid-crank pedaling task also demonstrated larger deficits in ILC i.e. maintaining a 180-degree phase relationship during split-crank. To address this deficit, our lab created a novel, split-crank pedaling robot named CUped. CUped (pronounced Cupid) is so called because it compels use of the paretic limb during a movement that resembles pedaling. CUped can create a training environment where ILC can be practiced while emphasizing output of the paretic limb. The purpose of this dissertation was to determine appropriate robotic control schemes and visual feedback methods for CUped.To achieve this purpose, we evaluated ILC, paretic work output, and velocity pedaling strategy during split-crank pedaling. Aim 1 investigated three proportional control schemes: Assist, Resist, and Assist+Resist. Control schemes provided torque to restore 180-degree phasing proportional to the phasing error. Assist provided forward-direction torque to the lagging limb while resist provided reverse-direction torque to the leading limb. Assist+Resist provided both control actions. Results indicated that Assist+Resist facilitated the lowest interlimb phasing errors while mitigating loss of paretic limb work. However, participants adopted a suboptimal pedaling strategy and performance was not retained during Post-test. Aim 2 tested whether simple visual feedback could further reduce phasing error as well as mitigate suboptimal pedaling strategy and allow retention during Post. Additionally, a constant and randomly-varying error augmentation gain schedule was examined to determine whether pedaling could further be improved. Interestingly, neither simple visual feedback nor error augmentation improved performance. We hypothesized that simple visual feedback did not adequately provide saliency of the task goal relative to the displayed error. Thus, for Aim 3 we tested whether additional visual feedback elements of reward and punishment were sufficient to improve pedaling performance. Results indicated that participants do indeed improve pedaling performance when presented with simple visual feedback in addition to elements of reward and punishment. Overall, these studies demonstrate that CUped can provide a proper environment to promote therapeutic behavior as well as provide important knowledge about lower limb deficits after stroke needed to drive the development of CUped forward.
546 $a English
590 $a School code: 0116
650 4 $a Engineering. $3 586835
650 4 $a Physical therapy. $3 588713
650 4 $a Robotics. $3 519753
653 $a Interlimb coordination
653 $a Pedaling
653 $a Rehabilitation
653 $a Stroke
653 $a Visual feedback
690 $a 0537
690 $a 0382
690 $a 0771
710 2 $a Marquette University. $b Biomedical Engineering. $e degree granting institution. $3 3828075
720 1 $a Schindler-Ivens, Sheila $e degree supervisor.
720 1 $a Schmit, Brian D. $e degree supervisor.
773 0 $t Dissertations Abstracts International $g 86-09B.
790 $a 0116
791 $a Ph.D.
792 $a 2025
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31847747