Stroke is the leading cause of long term disability with improved walking being an important goal following stroke. Understanding deficits that result in reduced walking performance by hemiparetic subjects is important for the design of effective rehabilitation strategies. The goal of this research was to investigate muscle coordination and mechanical work in hemiparetic walking and mechanisms of acceleration and deceleration in nondisabled walking as a framework for investigating non-steady state walking in hemiparetic subjects. Musculoskeletal modeling and simulation analyses were used to compare individual muscle contributions to important walking subtasks and muscle mechanical work by representative hemiparetic subjects (limited community and community walkers) during pre-swing with a representative speed and age-matched control. Simulation analyses identified decreased paretic soleus and gastrocnemius contributions to forward propulsion and power generation as the primary impairment in the limited community walker compared to the control. Comparison of mechanical work showed that total paretic and non-paretic fiber work was increased in the limited community walker, which was primarily related to decreased fiber and tendon work by paretic soleus and gastrocnemius. The decreased output by the ankle plantar flexors required compensatory work by other muscles. Also, the experimental analyses of accelerated and decelerated walking showed that the ankle plantar flexor moment was positively related to braking and propulsive impulses, which increased with speed. Thus, deficits of the paretic plantar flexors limit forward propulsion and increase mechanical work during pre-swing, and would limit the ability of hemiparetic walkers to accelerate and decelerate, which are essential tasks in daily living activities. For the community walker, simulation analyses showed that deficits in paretic swing initiation are a primary impairment. Specifically, the paretic gastrocnemius and hip flexors contributed less to swing initiation in the community walker compared to the control subject. Total paretic and non-paretic fiber work was increased in the community walker, primarily due to increased work by the hip abductors and adductors. Because step length and step frequency were positively related to walking speed in accelerated and decelerated walking, impaired paretic swing initiation would likely limit the community walker’s ability to accelerate and decelerate. / text

Wearable and mobile devices are an important part of our daily life. Most of those devices are powered by batteries. The limited life span of batteries constitutes a limitation, especially in a multiple-day expedition, where electrical power can not access conveniently. At the same time, there is a huge amount of energy stored in the human body. While walking, there is a large amount of power dissipated in the human body as negative muscle work and the energy loss by impact. By sourcing locally and using locally, human body energy harvesting is a promising solution. This dissertation focuses on harvesting energy from the human body to power wearable and mobile devices while poses a minimum burden on the human body. Three topics related to the human body energy harvesting are explored, i.e, energy harvesting backpack, negative muscle work harvester, and energy harvesting tile/paver. The energy harvesting backpack was invented in 2006. Extensive work was done to improve the performance of backpack energy harvester. The backpack is modeled as a spring-mass-damper system. Mechanical Motion Rectifier was added to the spring-mass-damper system to increase the frequency bandwidth. A spring is added to the spring-mass-damper system, between the harvester and the backpack mass, and a inerter-based 2DOF (degree-of-freedom) backpack is created. The inerter-based 2DOF backpack improves the power output, frequency bandwidth, and power stroke ratio performance. MMR was added to the inerter-based 2DOF backpack to reduce the peak stroke. Compared with the conventional spring-mass-damper backpack, the MMR and inerter-based 2DOF backpack can harvest more power with large bandwidth at a small sacrifice of stroke. The electric damping was also tuned to increase the power output and bandwidth for the energy harvesting backpack. The negative work harvester mounts on the human ankle and harvests energy in the terminal stance phase in human walking, when the calf muscle is doing negative muscle work. This harvester is an analogy to regenerative brake in vehicles. The energy harvesting paver/tile harvests energy when the heel contacts with ground and energy are dissipated by impact. / Doctor of Philosophy / Wearable and mobile devices are an important part of our daily life. Most of those devices are powered by batteries. The limited life span of batteries constitutes a limitation, especially in a multiple-day expedition, where electrical power can not access conveniently. At the same time, there is a huge amount of energy stored in the human body. While walking, there is a large amount of power dissipated in the human body as negative muscle work and the energy loss by impact. By sourcing locally and using locally, human body energy harvesting is a promising solution. This dissertation focuses on harvesting energy from the human body to power wearable and mobile devices while poses a minimum burden on the human body. Three topics related to the human body energy harvesting are explored, i.e, energy harvesting backpack, negative muscle work harvester, and energy harvesting tile/paver. The energy harvesting backpack was invented in 2006. Extensive work was done to improve the performance of backpack energy harvester. The backpack is modeled as a spring-mass-damper system. Extensive work have been done to make the energy harvesting backpack broad frequency bandwidth. The negative work harvester mounts on the human ankle and harvests energy in the terminal stance phase in human walking. This harvester is an analogy to regenerative brake in vehicles. The energy harvesting paver/tile harvests energy when the heel contacts with ground and energy are dissipated by impact.