Honors Program


Date of this Version

Spring 3-12-2018

Document Type



Whorley, Brett. ICARE: Evaluating the Kinematic Effects of a Center of Pressure Driven Passive Foot Pedal. University of Nebraska-Lincoln. 2018.


Copyright Brett Whorley 2018


The Intelligently Controlled Assistive Rehabilitation Elliptical (ICARE) by Madonna is a commercially available gait rehabilitation tool used worldwide to maintain and improve patient muscle mass and cardiovascular fitness. While users of the ICARE exhibit accurate emulation of trunk, hip, thigh, and knee kinematics, less than ideal kinematics are observed in the ankle joint when compared to over-ground gait. The purpose of this study was to develop modifications to the ICARE’s foot pedal in order to induce changes in ankle kinematics while maintaining the appropriate kinematics of other lower extremity joints. A passive Center of Pressure driven pedal mechanism was developed which rotates the foot about a fulcrum to induce ankle flexion. Three anatomical positions along the foot were investigated as potential fulcrum locations. It was determined that altering the fulcrum location of the ankle moment induces observable differences in kinematics while using the ICARE. The findings of this study validate continued development of a novel foot pedal to further advance the effectiveness of the ICARE to be used as a universal gait rehabilitation tool.