Science Robotics

Supplementary Materials

Supplementary Material for:

Robot-driven downward pelvic pull to improve crouch gait in children with cerebral palsy

J. Kang, D. Martelli, V. Vashista, I. Martinez-Hernandez, H. Kim, S. K. Agrawal*

*Corresponding author. Email: sunil.agrawal{at}

Published 26 July 2017, Sci. Robot. 2, eaan2634 (2017)
DOI: 10.1126/scirobotics.aan2634

This PDF file includes:

  • Materials and Methods
  • Fig. S1. Vertical GRF of sessions 1, 15, and 16 for all six children during free walking.
  • Fig. S2. Vertical GRF of all six children during free walking and training with downward force.
  • Fig. S3. Pelvic ROM and gait parameters during the training.
  • Fig. S4. EMG for five different muscles before and after 15 training sessions.
  • Fig. S5. Walking speed of individual children with CP.
  • Fig. S6. System setup.
  • Fig. S7. Defining motor constant.
  • Fig. S8. Vertical force evaluation during training sessions.
  • Table S1. Participant information and clinical measurements.
  • Table S2. Response of the participant and parents from clinical chart.
  • Table S3. Spasticity of ankle and knee joints.
  • Table S4. Cable attachment locations on the frame.

Download PDF

Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Experiment video including overground walking before/after training.

Files in this Data Supplement: