Graham Henderson

Research project title: 
Novel Gait Analysis Metrics for the Development of Lower-Limb Exoskeleton Control Paradigms
Research project: 

For an active orthosis or prosthesis to augment movement, a shared control paradigm is required to determine the timing and magnitude of assistance for an individual.  Shared control paradigms have been developed that determine the user’s motion intention and consequently generate a corresponding trajectory.  However, generating the desired trajectory that is task appropriate and suitable for the individual is challenging.  To overcome this problem, a credible novel metric will be developed using both an analytical model of a human/exoskeleton system based on a hierarchical stack of tasks framework and experimental testing.  The experimental testing will require taking measurements of kinematics, kinetics, effort and some derived features such as CoM/CoP symmetry during walking under different conditions, additionally response characteristic under perturbations will be measured.  Recording the different metrics will require use of the Edinburgh Centre for Robotic's split treadmill facility with two 6-axis force transducers with the ability to provide rapid perturbations as well as change of slope and speed and a full body motion capture system.  The new metric will enable the development of novel control paradigms that will be tested with two lower‐limb microprocessor controlled exoskeletons; the Active Pelvis Orthosis (APO) and Active Ankle Foot Orthosis (AAFO) .   The outcomes directly relate to what controllers can/should be used in active orthotic/prosthetic systems, how to develop successful rehabilitation training protocols and how to measure the effectiveness of both assistive devices and training protocols in various patients. 

About me: 

I hold a BEng in Mechanical Design Engineering from the University of Glasgow and an MSc in Bioengineering from the University of Strathclyde.

For 4 years I worked for NHS Lothian at the SMART (South East Mobility and Rehabilitation Technology) Centre. As a Clinical Scientist I worked in a gait analysis laboratory providing the scientific input for the laboratory.

My research interests are in gait analysis and in developing novel control paradigms for exoskeleton control. 

Student type: 
Current student