An ElectroHydraulic Actuated Ankle Foot Orthosis to Generate Force Fields and to Test Proprioceptive Reflexes During Human Walking
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Bibliographic record
Abstract
The control of human walking can be temporarily modified by applying forces to the leg. To study the neural mechanisms underlying this adaptive capacity, a device delivering controlled forces and high-velocity displacements to the ankle was designed. A new solution, involving a closed circuit hydraulic system composed of two cylinders (master-slave) mutually connected by hoses and controlled by an electric motor was preferred over classical mechanical/electrical approaches. The slave cylinder delivers desired torques to the ankle using a light weight, custom-designed ankle-foot orthosis. This electrohydraulic orthosis (EHO) can produce several types of force fields during walking, including constant, position-dependent, and phase-dependent. With phase-dependent force fields, active torque cancellation maintains low-residual torques ( < or = 1.85 Nm root mean square) outside of the zone of force application for walking speeds ranging from 0.2 to 4.5 km/h. Rapid ankle stretches/unloads ( > 200 degrees/s) can also be produced alone or during force field application, and elicited proprioceptive reflexes in ankle muscles. In conclusion, the EHO is capable of delivering controlled force fields and of activating proprioceptive reflexes during human walking. It will provide the flexibility needed to test the adaptability of healthy and pathological gait control, and to address some of its underlying neural mechanisms.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it