The influence of frontal alignment in the advanced reciprocating gait orthosis on energy cost and crutch force requirements during paraplegic gait

Reduction of energy cost and upper body load during paraplegic walking is considered to be an important criterion in future developments of walking systems. A high energy cost limits the maximum walking distance in the current devices, whereas wrist and shoulder pathology can deteriorate because of the high upper body load. A change in alignment of the mechanical brace in the frontal plane, i.e. abduction, can contribute to a more efficient gait pattern with sufficient foot clearance with less pelvic lateral sway. A decrease in pelvic lateral sway after aligning in abduction results in a shift of the centre of mass to the swing leg crutch which may result in a decrease in required crutch force on stance side to maintain foot clearance. Five paraplegic subjects were provided with a standard Advanced Reciprocating Gait Orthosis (ARGO) and an ARGO aligned in 4 different degrees of abduction (0°, 3°, 6° and 9°). After determining an optimal abduction angle for each of the subjects, a cross over design was used to compare the ARGO with the individually optimised abducted orthosis. An abduction angle between 0° and 3° was chosen as optimal abduction angle. Subjects were not able to walk satisfactory with abduction angles 6° and 9°. A significant reduction in crutch peak force on stance side was found (approx. 12% , p < 0.01) in the abducted orthosis. Reduction in crutch force time integral (15%) as well as crutch peak force on swing side (5%) was not significant. No differences in oxygen uptake as well as oxygen cost was found. We concluded that an abduction angle between 0° and 3° is beneficial with respect to upper boHy load, whereas energy requirements did not change

Compilability of Abduction

Abduction is one of the most important forms of reasoning; it has been successfully applied to several practical problems such as diagnosis. In this paper we investigate whether the computational complexity of abduction can be reduced by an appropriate use of preprocessing. This is motivated by the fact that part of the data of the problem (namely, the set of all possible assumptions and the theory relating assumptions and manifestations) are often known before the rest of the problem. In this paper, we show some complexity results about abduction when compilation is allowed

Theory formation by abduction : a case study based on the chemical revolution

Abduction is the process of constructing explanations. This chapter suggests that automated abduction is a key to advancing beyond the "routine theory revision" methods developed in early AI research towards automated reasoning systems capable of "world model revision" - dramatic changes in systems of beliefs such as occur in children's cognitive development and in scientific revolutions. The chapter describes a general approach to automating theory revision based upon computational methods for theory formation by abduction. The approach is based on the idea that, when an anomaly is encountered, the best course is often simply to suppress parts of the original theory thrown into question by the contradiction and to derive an explanation of the anomalous observation based on relatively solid, basic principles. This process of looking for explanations of unexpected new phenomena can lead by abductive inference to new hypotheses that can form crucial parts of a revised theory. As an illustration, the chapter shows how some of Lavoisier's key insights during the Chemical Revolution can be viewed as examples of theory formation by abduction