scholarly journals Constructing predictive models of human running

2015 ◽  
Vol 12 (103) ◽  
pp. 20140899 ◽  
Author(s):  
Horst-Moritz Maus ◽  
Shai Revzen ◽  
John Guckenheimer ◽  
Christian Ludwig ◽  
Johann Reger ◽  
...  
Keyword(s):  
Predictive Models ◽  
Inverted Pendulum ◽  
Human Locomotion ◽  
Three Dimensions ◽  
Centre Of Mass ◽  
Starting Point ◽  
Reaction Forces ◽  
Using Data ◽  
Human Running ◽  
Reduced State

Running is an essential mode of human locomotion, during which ballistic aerial phases alternate with phases when a single foot contacts the ground. The spring-loaded inverted pendulum (SLIP) provides a starting point for modelling running, and generates ground reaction forces that resemble those of the centre of mass (CoM) of a human runner. Here, we show that while SLIP reproduces within-step kinematics of the CoM in three dimensions, it fails to reproduce stability and predict future motions. We construct SLIP control models using data-driven Floquet analysis, and show how these models may be used to obtain predictive models of human running with six additional states comprising the position and velocity of the swing-leg ankle. Our methods are general, and may be applied to any rhythmic physical system. We provide an approach for identifying an event-driven linear controller that approximates an observed stabilization strategy, and for producing a reduced-state model which closely recovers the observed dynamics.

scholarly journals Postural stability in human running with step-down perturbations: an experimental and numerical study

2020 ◽  
Vol 7 (11) ◽  
pp. 200570 ◽  
Author(s):  
Özge Drama ◽  
Johanna Vielemeyer ◽  
Alexander Badri-Spröwitz ◽  
Roy Müller
Keyword(s):  
Postural Stability ◽  
Stance Phase ◽  
Numerical Study ◽  
Centre Of Mass ◽  
Trunk Motion ◽  
Inverted Pendulum Model ◽  
Reaction Forces ◽  
Step Down ◽  
Virtual Point ◽  
Human Running

Postural stability is one of the most crucial elements in bipedal locomotion. Bipeds are dynamically unstable and need to maintain their trunk upright against the rotations induced by the ground reaction forces (GRFs), especially when running. Gait studies report that the GRF vectors focus around a virtual point above the centre of mass (VP A ), while the trunk moves forward in pitch axis during the stance phase of human running. However, a recent simulation study suggests that a virtual point below the centre of mass (VP B ) might be present in human running, because a VP A yields backward trunk rotation during the stance phase. In this work, we perform a gait analysis to investigate the existence and location of the VP in human running at 5 m s −1 , and support our findings numerically using the spring-loaded inverted pendulum model with a trunk. We extend our analysis to include perturbations in terrain height (visible and camouflaged), and investigate the response of the VP mechanism to step-down perturbations both experimentally and numerically. Our experimental results show that the human running gait displays a VP B of ≈−30 cm and a forward trunk motion during the stance phase. The camouflaged step-down perturbations affect the location of the VP B . Our simulation results suggest that the VP B is able to encounter the step-down perturbations and bring the system back to its initial equilibrium state.

scholarly journals Walking in circles: a modelling approach

2014 ◽  
Vol 11 (99) ◽  
pp. 20140594 ◽  
Author(s):  
Horst-Moritz Maus ◽  
Andre Seyfarth
Keyword(s):  
Sagittal Plane ◽  
The Body ◽  
Three Dimensions ◽  
Human Walking ◽  
Centre Of Mass ◽  
Straight Line ◽  
Parameter Configuration ◽  
Reaction Forces ◽  
Walking Velocity ◽  
Modelling Approach

Blindfolded or disoriented people have the tendency to walk in circles rather than on a straight line even if they wanted to. Here, we use a minimalistic walking model to examine this phenomenon. The bipedal spring-loaded inverted pendulum exhibits asymptotically stable gaits with centre of mass (CoM) dynamics and ground reaction forces similar to human walking in the sagittal plane. We extend this model into three dimensions, and show that stable walking patterns persist if the leg is aligned with respect to the body (here: CoM velocity) instead of a world reference frame. Further, we demonstrate that asymmetric leg configurations, which are common in humans, will typically lead to walking in circles. The diameter of these circles depends strongly on parameter configuration, but is in line with empirical data from human walkers. Simulation results suggest that walking radius and especially direction of rotation are highly dependent on leg configuration and walking velocity, which explains inconsistent veering behaviour in repeated trials in human data. Finally, we discuss the relation between findings in the model and implications for human walking.

scholarly journals Force direction patterns promote whole body stability even in hip-flexed walking, but not upper body stability in human upright walking

2017 ◽  
Vol 473 (2207) ◽  
pp. 20170404 ◽  
Author(s):  
Roy Müller ◽  
Christian Rode ◽  
Soran Aminiaghdam ◽  
Johanna Vielemeyer ◽  
Reinhard Blickhan
Keyword(s):  
Inverted Pendulum ◽  
Focal Point ◽  
Metabolic Cost ◽  
Body Motion ◽  
Upper Body ◽  
Whole Body ◽  
Centre Of Mass ◽  
General Relevance ◽  
Force Direction ◽  
Reaction Forces

Directing the ground reaction forces to a focal point above the centre of mass of the whole body promotes whole body stability in human and animal gaits similar to a physical pendulum. Here we show that this is the case in human hip-flexed walking as well. For all upper body orientations (upright, 25°, 50°, maximum), the focal point was well above the centre of mass of the whole body, suggesting its general relevance for walking. Deviations of the forces' lines of action from the focal point increased with upper body inclination from 25 to 43 mm root mean square deviation (RMSD). With respect to the upper body in upright gait, the resulting force also passed near a focal point (17 mm RMSD between the net forces' lines of action and focal point), but this point was 18 cm below its centre of mass. While this behaviour mimics an unstable inverted pendulum, it leads to resulting torques of alternating sign in accordance with periodic upper body motion and probably provides for low metabolic cost of upright gait by keeping hip torques small. Stabilization of the upper body is a consequence of other mechanisms, e.g. hip reflexes or muscle preflexes.

scholarly journals Balancing on a narrow ridge: biomechanics and control

1999 ◽  
Vol 354 (1385) ◽  
pp. 869-875 ◽  
Author(s):  
E. Otten
Keyword(s):  
Hip Joint ◽  
Ground Reaction Force ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Angular Acceleration ◽  
Centre Of Mass ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Narrow Ridge ◽  
Standing Humans

The balance of standing humans is usually explained by the inverted pendulum model. The subject invokes a horizontal ground–reaction force in this model and controls it by changing the location of the centre of pressure under the foot or feet. In experiments I showed that humans are able to stand on a ridge of only a few millimetres wide on one foot for a few minutes. In the present paper I investigate whether the inverted pendulum model is able to explain this achievement. I found that the centre of mass of the subjects sways beyond the surface of support, rendering the inverted pendulum model inadequate. Using inverse simulations of the dynamics of the human body, I found that hip–joint moments of the stance leg are used to vary the horizontal component of the ground–reaction force. This force brings the centre of mass back over the surface of support. The subjects generate moments of force at the hip–joint of the swing leg, at the shoulder–joints and at the neck. These moments work in conjunction with a hip strategy of the stance leg to limit the angular acceleration of the head–arm–trunk complex. The synchrony of the variation in moments suggests that subjects use a motor programme rather than long latency reflexes.

scholarly journals Metabolic cost of generating horizontal forces during human running

1999 ◽  
Vol 86 (5) ◽  
pp. 1657-1662 ◽  
Author(s):  
Young-Hui Chang ◽  
Rodger Kram
Keyword(s):  
Body Weight ◽  
Oxygen Consumption ◽  
Metabolic Cost ◽  
Ground Reaction Forces ◽  
Vertical Force ◽  
Order Of Magnitude ◽  
Reaction Forces ◽  
The Cost ◽  
Support Body Weight ◽  
Human Running

Previous studies have suggested that generating vertical force on the ground to support body weight (BWt) is the major determinant of the metabolic cost of running. Because horizontal forces exerted on the ground are often an order of magnitude smaller than vertical forces, some have reasoned that they have negligible cost. Using applied horizontal forces (AHF; negative is impeding, positive is aiding) equal to −6, −3, 0, +3, +6, +9, +12, and +15% of BWt, we estimated the cost of generating horizontal forces while subjects were running at 3.3 m/s. We measured rates of oxygen consumption (V˙o 2) for eight subjects. We then used a force-measuring treadmill to measure ground reaction forces from another eight subjects. With an AHF of −6% BWt,V˙o 2 increased 30% compared with normal running, presumably because of the extra work involved. With an AHF of +15% BWt, the subjects exerted ∼70% less propulsive impulse and exhibited a 33% reduction inV˙o 2. Our data suggest that generating horizontal propulsive forces constitutes more than one-third of the total metabolic cost of normal running.

scholarly journals An Objective Search for Unrecognized Bias in Validated COVID-19 Prediction Models

2021 ◽  
Author(s):  
Hossein Estiri ◽  
Zachary Strasser ◽  
Sina Rashidian ◽  
Jeffrey Klann ◽  
Kavishwar Wagholikar ◽  
...  
Keyword(s):  
Predictive Models ◽  
Medical Records ◽  
Prediction Models ◽  
Evaluation Studies ◽  
Protected Group ◽  
Increased Risk ◽  
Using Data ◽  
Bias Evaluation ◽  
Algorithmic Bias

The growing recognition of algorithmic bias has spurred discussions about fairness in artificial intelligence (AI) / machine learning (ML) algorithms. The increasing translation of predictive models into clinical practice brings an increased risk of direct harm from algorithmic bias; however, bias remains incompletely measured in many medical AI applications. Using data from over 56 thousand Mass General Brigham (MGB) patients with confirmed severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), we evaluate unrecognized bias in four AI models developed during the early months of the pandemic in Boston, Massachusetts that predict risks of hospital admission, ICU admission, mechanical ventilation, and death after a SARS-CoV-2 infection purely based on their pre-infection longitudinal medical records. We discuss that while a model can be biased against certain protected groups (i.e., perform worse) in certain tasks, it can be at the same time biased towards another protected group (i.e., perform better). As such, current bias evaluation studies may lack a full depiction of the variable effects of a model on its subpopulations. If the goal is to make a change in a positive way, the underlying roots of bias need to be fully explored in medical AI. Only a holistic evaluation, a diligent search for unrecognized bias, can provide enough information for an unbiased judgment of AI bias that can invigorate follow-up investigations on identifying the underlying roots of bias and ultimately make a change.

scholarly journals Prediction of local geomagnetic activity on the example of data of “Lviv” Magnetic Observatory

2021 ◽  
Vol 27 (1) ◽  
pp. 78-84
Author(s):  
D.I. Vlasov ◽  
◽  
A.S. Parnowski ◽  
Keyword(s):  
Predictive Models ◽  
Lead Time ◽  
Measurement Data ◽  
Correlation Coefficients ◽  
Skill Score ◽  
Magnetic Observatory ◽  
Using Data ◽  
First Time ◽  
Prediction Efficiency ◽  
Main Center

For the first time in world practice, predictive models were constructed for X, Y, Z geomagnetic elements. Based on these models, the prediction was made with 3 hours lead time using data of the “Lviv” magnetic observatory. The properties of models are as follows: observatory — LVV, рredicted values — XYZ; lead time — 3 hours; correlation coefficients’ averaged measurement data — 0.824 (X), 0.811 (Y), 0.804 (Z); prediction efficiency — 0.816 (X), 0.803 (Y), 0.801 (Z); skill score — 0.115 (X), 0.095 (Y), 0.099 (Z). The developed models were tested in the Main Center of Special Monitoring, and they were found to meet the Basic Requirements for operational predictive models.

scholarly journals VIRTUAL LABORATORIES AS STRATEGY FOR TEACHING IMPROVEMENT IN MATH SCIENCES AND ENGINEERING IN BOLIVIA

2020 ◽  
Vol 2 (1) ◽  
pp. 52-62
Author(s):  
Francisco Vargas
Keyword(s):  
Differential Equations ◽  
Matrix Algebra ◽  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Numerical Algorithms ◽  
Three Dimensions ◽  
Technological Advancement ◽  
Teaching Improvement ◽  
Two Degrees Of Freedom ◽  
Virtual Laboratories

The vertiginous technological advancement has made necessary the use of computersoftware that contributes to the improvement of teaching in math sciences and engineering.It is in this context that the last five years the strategy presented in this article has been disseminatedin the main universities of Bolivia, a country where the schools have not yet been ableto offer basic disciplines such as calculus, matrix algebra, physics and/or differential equationsto solve problems considering applicative aspects. To establish this connection, it is necessaryto deduce differential equations associated with practical problems, solve these equationswith different numerical algorithms, and establish the concept of simulation to later introducelanguages like Python/VPython free of license to elaborate Virtual Laboratories that allow obtainingthe solutions in two and three dimensions. The classical problems addressed for thispurpose are the satellite of two degrees of freedom and the inverted pendulum.

scholarly journals Developing A General Framework for National Health Information Network for Developing Countries

2020 ◽  
Vol 9 ◽  
pp. 1792
Author(s):  
Hamid Moghaddasi ◽  
Reza Rabiei ◽  
Farkhondeh Asadi ◽  
Ali Mohammadpour
Keyword(s):  
Information Systems ◽  
Health System ◽  
Health Information ◽  
National Health ◽  
General Framework ◽  
Health Information Systems ◽  
Three Dimensions ◽  
Information Network ◽  
Starting Point ◽  
The Usa

Background: The National Health Information Network (NHIN) is one of the key issues in health information systems in any country. However, the development of this network should be based on an appropriate framework. Unfortunately, the conducted projects of health information systems in the Ministry of Health of Iran do not fully comply with the concept of NHIN. The present study was aimed to develop a general framework for NHIN in Iran. Materials and Methods: In this study, in the first stage, the required information about the concept of the NHIN framework and related NHIN documents in the USA and the UK were collected based on a literature review. Then, according to the results of the first stage and with regards to the structure of the Iranian health system, a general framework for Iranian NHIN was proposed. The Delphi technique was conducted to verify the framework. Results: The proposed framework for Iranian NHIN includes three dimensions; components, principles, and architecture. Over 80% of experts have evaluated all three aspects of the framework at an acceptable scale. In total, the proposed framework has been evaluated by 83.8% of the experts at an acceptable scale. Conclusion: The proposed framework was expected to serve as the starting point for moving towards the design and creation of Iranian NHIN. At any rate, the framework could be criticized, and it could only be used for the countries whose health system is similar to the structure of the health system in Iran. [GMJ.2020;9:e1792]

Lyapunov-stable control of mechatronic systems

2005 ◽  
Vol 219 (2) ◽  
pp. 173-185 ◽  
Author(s):  
O Enge ◽  
P Maißer
Keyword(s):  
Inverse Dynamics ◽  
Dynamic Control ◽  
Linear Feedback ◽  
Mechatronic Systems ◽  
Electromechanical Systems ◽  
Starting Point ◽  
Reaction Forces ◽  
The Stability ◽  
Lagrange Formalism ◽  
Stable Control

In this paper, a method for controlling mechatronic systems using inverse dynamics is proposed. The starting point is a unified mathematical approach to modelling electromechanical systems based on Lagrange formalism. This mathematical theory is used to represent such systems taking into account all interactions between their substructures. The concept of Lagrange formalism for electromechanical systems is given and the complete governing equations are presented. The Voronetz equations of a partially kinematically controlled electromechanical system (EMS) are derived. The corresponding reaction forces and voltages following from the Voronetz equations are determined. Using these reactions with small modifications, a so-called ‘augmented proportional-derivative (PD) dynamic control law’ is generated. This controller consists of a non-linear feedforward - based on inverse dynamics - and a linear feedback. The stability of the controller is proved using a Lyapunov function. The controller can also be applied to pure multibody systems or a sheer electrical system, both of which are borderline cases of mechatronic systems.

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