Advanced technology for gait rehabilitation --- An overview

Most gait training systems are designed for acute and subacute neurological inpatients. Many systems are used for relearning gait movements (nonfunctional training) or gait cycle training (functional gait training). Each system presents its own advantages and disadvantages in terms of functional outcomes. However, training gait cycle movements is not sufficient for the rehabilitation of ambulation. There is a need for new solutions to overcome the limitations of existing systems in order to ensure individually tailored training conditions for each of the potential users, no matter the complexity of his or her condition. There is also a need for a new, integrative approach in gait rehabilitation, one that encompasses and addresses all aspects of physical as well as psychological aspects of ambulation in real-life multitasking situations. In this respect, a multidisciplinary multinational team performed an overview of the current technology for gait rehabilitation and reviewed the principles of ambulation training

Navigation functions learning from experiments: Application to anthropomorphic grasping

Abstract—This paper proposes a method to construct Nav-igation Functions (NF) from experimental trajectories in an unknown environment. We want to approximate an unknown obstacle function and then use it within an NF. When nav-igating the same destinations with the experiments, this NF should produce the same trajectories as the experiments. This requirement is equivalent to a partial differential equation (PDE). Solving the PDE yields the unknown obstacle function, expressed with spline basis functions. We apply this new method to anthropomorphic grasping, producing automatic trajectories similar to the observed ones. The grasping experiments were performed for a set of different objects, Principal Component Analysis (PCA) allows reduction of the configuration space dimension, where the learning NF method is then applied. I