Table 1.
Mean (standard deviation) of obstacle avoidance. PC: body weight (standard deviation) of obstacle avoidance; DHPO: horizontal distance between foot and obstacle before the obstacle; DHOP: horizontal distance between foot and obstacle after the obstacle; TC: toe-clearance.
| Spatiotemporal parameters | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Low obstacle | Intermediate obstacle | High obstacle | ||||||||||
| Right leg (leading limb) | Left leg (trailing limb) | Right leg (leading limb) | Left leg (trailing limb) | Right leg (leading limb) | Left leg (trailing limb) | |||||||
| Control | PD | Control | PD | Control | PD | Control | PD | Control | PD | Control | PD | |
| Step length (cm) | 67.69 (7.69) | 63.68 (7.02) | 59.20 (11.63) | 52.30 (9.82) | 67.30 (8.53) | 62.81 (7.06) | 59.53 (10.23) | 54.67 (7.24) | 66.12 (7.69) | 63.43 (7.31) | 59.68 (13.05) | 52.00 (8.11) |
| Duration (s) | 0.63 (0.07) | 0.70 (0.09) | 0.62 (0.08) | 0.67 (0.07) | 0.66 (0.08) | 0.74 (0.09) | 0.66 (0.09) | 0.73 (0.09) | 0.70 (0.09) | 0.78 (0.08) | 0.71 (0.10) | 0.77 (0.09) |
| Width (cm) | 11.38 (5.01) | 11.61 (3.02) | 13.97 (3.63) | 13.20 (2.99) | 10.70 (5.01) | 12.10 (3.93) | 14.88 (3.83) | 13.03 (2.77) | 11.78 (6.03) | 12.26 (3.16) | 14.44 (5.27) | 14.21 (2.78) |
| Double support (%) | 15.78 (1.67) | 17.40 (1.37) | 18.02 (2.12) | 21.41 (2.64) | 14.80 (1.24) | 15.82 (1.64) | 18.00 (2.12) | 20.83 (2.22) | 13.93 (1.58) | 14.77 (1.67) | 16.55 (2.96) | 20.75 (2.10) |
| Single support (%) | 84.21 (1.67) | 82.59 (1.37) | 75.92 (22.66) | 78.58 (2.64) | 85.19 (1.24) | 84.17 (1.64) | 81.99 (2.12) | 80.47 (2.57) | 86.06 (1.58) | 85.22 (1.67) | 83.44 (2.96) | 81.19 (3.28) |
| Step velocity (cm/s) | 109.01 (18.10) | 92.20 (16.94) | 96.13 (22.92) | 78.91 (18.45) | 103.29 (18.37) | 86.01 (15.99) | 91.59 (21.34) | 75.99 (13.80) | 95.61 (15.43) | 82.30 (14.16) | 85.36 (22.18) | 68.69 (14.14) |
| Kinects Parameters | ||||||||||||
| Before obstacle | After obstacle | |||||||||||
| Low obstacle | Intermediate obstacle | High obstacle | Low obstacle | Intermediate obstacle | High obstacle | |||||||
| Control | PD | Control | PD | Control | PD | Control | PD | Control | PD | Control | PD | |
| Braking (%pc/s) | 0.18 (0.08) | 0.12 (0.04) | 0.19 (0.02) | 0.13 (0.04) | 0.21 (0.03) | 0.14 (0.04) | 0.20 (0.05) | 0.10 (0.06) | 0.21 (0.06) | 0.22 (0.08) | 0.22 (0.08) | 0.23 (0.09) |
| Propulsion (%pc/s) | 0.11 (0.06) | 0.09 (0.03) | 0.12 (0.07) | 0.09 (0.04) | 0.13 (0.07) | 0.10 (0.04) | 0.10 (0.06) | 0.20 (0.08) | 0.11 (0.08) | 0.11 (0.09) | 0.12 (0.09) | 0.11 (0.06) |
| Horizontal distances and toe-clearance | ||||||||||||
| Control Group | PD group | |||||||||||
| Leading limb | Trailing limb | Leading limb | Trailing limb | |||||||||
| DHPO | DHOP | TC | DHPO | DHOP | TC | DHPO | DHOP | TC | DHPO | DHOP | TC | |
| Low obstacle | 73.46 (14.59) | 27.31 (6.16) | 23.24 (5.07) | 12.89 (4.31) | 60.22 (10.23) | 3.85 (2.24) | 58.44 (9.40) | 23.69 (4.04) | 23.61 (7.94) | 13.60 (4.79) | 65.12 (9.68) | 5.64 (4.20) |
| Intermediate obstacle | 73.74 (12.54) | 28.70 (6.90) | 19.51 (5.42) | 12.42 (4.45) | 58.88 (10.13) | 3.63 (1.42) | 58.29 (10.27) | 22.98 (3.88) | 20.23 (19.51) | 13.66 (3.86) | 64.78 (7.47) | 3.50 (2.66) |
| High obstacle | 69.38 (10.07) | 27.11 (5.56) | 13.06 (5.90) | 24.63 (4.35) | 72.65 (9.74) | 7.84 (3.89) | 58.47 (8.07) | 23.45 (4.01) | 14.72 (8.77) | 13.77 (4.04) | 66.55 (5.30) | 7.06 (2.66) |