Science Robotics

Supplementary Materials

Supplementary Material for:

Robot-induced perturbations of human walking reveal a selective generation of motor adaptation

Iahn Cajigas, Alexander Koenig, Giacomo Severini, Maurice Smith, Paolo Bonato*

*Corresponding author. Email: pbonato{at}mgh.harvard.edu

Published 24 May 2017, Sci. Robot. 2, eaam7749 (2017)
DOI: 10.1126/scirobotics.aam7749

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  • Fig. S1. Schematic representation of the motor adaptation experiments.
  • Fig. S2. Comparison of the robot joint angles during the baseline phase of the experiments and normative joint angle data collected during overground walking.
  • Fig. S3. Comparison of joint interaction torque and power values during the baseline phase of the experiments and normative data collected during overground
    walking.
  • Fig. S4. Diagram of the controller of the exoskeleton.
  • Fig. S5. Effect of the metronome on the variability in the ankle velocity.
  • Fig. S6. Kinematics and kinetics of motion for the right lower limb during all testing conditions.
  • Fig. S7. Kinematics and kinetics of motion for the left lower limb during all testing conditions.
  • Fig. S8. Aggregate results for changes in step length and step height for the X testing condition.
  • Fig. S9. Aggregate results for changes in step length and step height for the Xinv testing condition.
  • Fig. S10. Aggregate results for changes in step length and step height for the Y testing condition.
  • Fig. S11. Aggregate results for changes in step length and step height for the Yinv testing condition.
  • Fig. S12. Aggregate results for changes in step length and step height for the Xmax testing condition.
  • Fig. S13. Aggregate results for changes in step length and step height for the Ymax testing condition.
  • Table S1. Statistical analysis to test for step-length and step-height differences observed during the motor adaptation experiments for all testing conditions.
  • Table S2. Time constants of adaptation calculated from the aggregate data (mean ± SE).
  • Table S3. Comparisons of the values of the time constants derived from individual data associated with motor adaptation for the X, Xinv, Xmax, and Ymax testing conditions.
  • Table S4. Analysis of the symmetry indices for step length, step height, and the net mechanical work generated by subjects during the baseline and perturbation phases of the motor adaptation experiments.
  • References (3639)

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