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 Virtual Point Control for Step-Down Perturbations and Downhill Slopes in Bipedal Running

2020 ◽  
Vol 8 ◽  
Author(s):  
Özge Drama ◽  
Alexander Badri-Spröwitz
Keyword(s):  
Control Method ◽  
Single Step ◽  
Bipedal Robots ◽  
Natural Motion ◽  
Reaction Forces ◽  
Point Control ◽  
Step Down ◽  
Virtual Point ◽  
And Control ◽  
Level Running

Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes perturbations. One bio-inspired method to achieve postural stability is the virtual point (VP) control, which is able to generate natural motion. However, so far it has only been studied for level running. In this work, we investigate whether the VP control method can accommodate single step-down perturbations and downhill terrains. We provide guidelines on the model and controller parameterizations for handling varying terrain conditions. Next, we show that the VP method is able to stabilize single step-down perturbations up to 40 cm, and downhill grades up to 20–40° corresponding to running speeds of 2–5 ms−1. Our results show that the VP approach leads to asymmetrically bounded ground reaction forces for downhill running, unlike the commonly-used symmetric friction cone constraints. Overall, VP control is a promising candidate for terrain-adaptive running control of bipedal robots.

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.

Constrained Inverted Pendulum Model For Evaluating Upright Postural Stability

1982 ◽  
Vol 104 (4) ◽  
pp. 343-349 ◽  
Author(s):  
H. Hemami ◽  
A. Katbab
Keyword(s):  
Postural Stability ◽  
Feedback System ◽  
Linear Feedback ◽  
State Variables ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Lyapunov’S Second Method ◽  
Angular Velocities ◽  
Reaction Forces ◽  
The Stability

The human torso motion about its upright position is analyzed and modeled by a feedback system where the ground reaction forces and constraint torques are explicitly computed. Further, Euler angles and body angular velocities are selected as state variables to simplify the dynamics. The general stability of this system is considered via Lyapunov’s second method. Two methods of preventing self rotation are discussed: Linear feedback law and holonomic torque constraints. The stability solution is verified by digital computer simulation.

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 Effect of Toe Type on Static Balance in Ballet Dancers

2020 ◽  
Vol 35 (1) ◽  
pp. 35-41
Author(s):  
Momoko Kizawa ◽  
Toshito Yasuda ◽  
Hiroaki Shima ◽  
Katsunori Mori ◽  
Seiya Tsujinaka ◽  
...  
Keyword(s):  
Postural Stability ◽  
Center Of Pressure ◽  
Ground Reaction Forces ◽  
Bipedal Stance ◽  
Ballet Dancers ◽  
Maximum Range ◽  
Trajectory Length ◽  
Reaction Forces ◽  
Second Toe ◽  
Anterior Posterior

OBJECTIVES: Some forefoot shapes are ideal for pointe work in ballet. Egyptian-type, with the hallux being longest and the remaining toes decreasing in size, and Greek-type, with the second toe longer than the hallux, are considered less optimal for pointe work. Square-type, with the second toe the same length as the hallux, is considered optimal. This study compared postural stability in the bipedal stance, demi pointe, and en pointe between ballet dancers with the two toe types using a stabilometer. METHODS: This study included 25 Japanese ballet academy dancers who had received ballet lessons for at least 6 years. Toes were categorized into Egyptian-type (n=14) and square-type (n=11). Bipedal stance, demi pointe, and en pointe were tested. Center of pressure (COP) parameters were calculated from ground-reaction forces using two force plates: total trajectory length (LNG), velocities of anterior-posterior (VAP) and medial-lateral directions (VML), and maximum range displacement in the anterior-posterior (MAXAP) and medial-lateral directions (MAXML). Mann-Whitney U-tests were used to examine differences in COP parameters. RESULTS: There were no differences in parameters during bipedal stance or demi pointe. However, dancers with Egyptian-type toes had significantly greater LNG (p<0.01), VML (p=0.01), MAXML (p<0.01), and MAXAP (p=0.03) during en pointe. CONCLUSIONS: Ballet dancers with Egyptian-type toes demonstrated greater displacement in the medial-lateral and anterior-posterior directions during en pointe. Ballet dancers should be aware of toe types and sway character to optimize ballet training and balance.

A Robotic Cadaveric Flatfoot Analysis of Stance Phase

2011 ◽  
Vol 133 (5) ◽  
Author(s):  
Lyle T. Jackson ◽  
Patrick M. Aubin ◽  
Matthew S. Cowley ◽  
Bruce J. Sangeorzan ◽  
William R. Ledoux
Keyword(s):  
Surgical Treatment ◽  
Degrees Of Freedom ◽  
Stance Phase ◽  
Gait Cycle ◽  
Ground Reaction Forces ◽  
Pes Planus ◽  
Reaction Forces ◽  
Vertical Ground

The symptomatic flatfoot deformity (pes planus with peri-talar subluxation) can be a debilitating condition. Cadaveric flatfoot models have been employed to study the etiology of the deformity, as well as invasive and noninvasive surgical treatment strategies, by evaluating bone positions. Prior cadaveric flatfoot simulators, however, have not leveraged industrial robotic technologies, which provide several advantages as compared with the previously developed custom fabricated devices. Utilizing a robotic device allows the researcher to experimentally evaluate the flatfoot model at many static instants in the gait cycle, compared with most studies, which model only one to a maximum of three instances. Furthermore, the cadaveric tibia can be statically positioned with more degrees of freedom and with a greater accuracy, and then a custom device typically allows. We created a six degree of freedom robotic cadaveric simulator and used it with a flatfoot model to quantify static bone positions at ten discrete instants over the stance phase of gait. In vivo tibial gait kinematics and ground reaction forces were averaged from ten flatfoot subjects. A fresh frozen cadaveric lower limb was dissected and mounted in the robotic gait simulator (RGS). Biomechanically realistic extrinsic tendon forces, tibial kinematics, and vertical ground reaction forces were applied to the limb. In vitro bone angular position of the tibia, calcaneus, talus, navicular, medial cuneiform, and first metatarsal were recorded between 0% and 90% of stance phase at discrete 10% increments using a retroreflective six-camera motion analysis system. The foot was conditioned flat through ligament attenuation and axial cyclic loading. Post-flat testing was repeated to study the pes planus deformity. Comparison was then made between the pre-flat and post-flat conditions. The RGS was able to recreate ten gait positions of the in vivo pes planus subjects in static increments. The in vitro vertical ground reaction force was within ±1 standard deviation (SD) of the in vivo data. The in vitro sagittal, coronal, and transverse plane tibial kinematics were almost entirely within ±1 SD of the in vivo data. The model showed changes consistent with the flexible flatfoot pathology including the collapse of the medial arch and abduction of the forefoot, despite unexpected hindfoot inversion. Unlike previous static flatfoot models that use simplified tibial degrees of freedom to characterize only the midpoint of the stance phase or at most three gait positions, our simulator represented the stance phase of gait with ten discrete positions and with six tibial degrees of freedom. This system has the potential to replicate foot function to permit both noninvasive and surgical treatment evaluations throughout the stance phase of gait, perhaps eliciting unknown advantages or disadvantages of these treatments at other points in the gait cycle.

Associations between ground reaction force waveforms and sprint start performance

2019 ◽  
Vol 14 (5) ◽  
pp. 658-666 ◽  
Author(s):  
Steffi L Colyer ◽  
Philip Graham-Smith ◽  
Aki IT Salo
Keyword(s):  
Reaction Force ◽  
Statistical Parametric Mapping ◽  
Force Production ◽  
Mass Motion ◽  
Ground Reaction Forces ◽  
Centre Of Mass ◽  
Specific Training ◽  
Force Vector ◽  
Reaction Forces ◽  
External Power

Ground reaction forces produced on the blocks determine an athlete’s centre of mass motion during the sprint start, which is crucial to sprint performance. This study aimed to understand how force waveforms are associated with better sprint start performance. Fifty-seven sprinters (from junior to world elite) performed a series of block starts during which the ground reaction forces produced by the legs and arms were separately measured. Statistical parametric mapping (linear regression) revealed specific phases of these waveforms where forces were associated with average horizontal external power. Better performances were achieved by producing higher forces and directing the force vector more horizontally during the initial parts of the block phase (17–34% and 5–37%, respectively). During the mid-push (around the time of rear block exit: ∼54% of the block push), magnitudes of front block force differentiated performers, but orientation did not. Consequently, the ability to sustain high forces during the transition from bilateral to unilateral pushing was a performance-differentiating factor. Better athletes also exhibited a higher ratio of forces on the front block in the latter parts of unilateral pushing (81–92% of the block push), which seemed to allow these athletes to exit the blocks with lower centre of mass projection angles. Training should reflect these kinetic requirements, but also include technique-based aspects to increase both force production and orientation capacities. Specific training focused on enhancing anteroposterior force production during the transition between double- to single-leg propulsion could be beneficial for overall sprint start performance.

scholarly journals The influence of sagittal trunk lean on uneven running mechanics

2020 ◽  
Vol 224 (1) ◽  
pp. jeb228288
Author(s):  
Soran AminiAghdam ◽  
Reinhard Blickhan ◽  
Kiros Karamanidis
Keyword(s):  
Centre Of Mass ◽  
Leg Length ◽  
Mass Model ◽  
Ankle Stiffness ◽  
Trunk Posture ◽  
Step Down ◽  
Posterior Trunk ◽  
Running Mechanics ◽  
Mass Position

ABSTRACTThe role of trunk orientation during uneven running is not well understood. This study compared the running mechanics during the approach step to and the step down for a 10 cm expected drop, positioned halfway through a 15 m runway, with that of the level step in 12 participants at a speed of 3.5 m s−1 while maintaining self-selected (17.7±4.2 deg; mean±s.d.), posterior (1.8±7.4 deg) and anterior (26.6±5.6 deg) trunk leans from the vertical. Our findings reveal that the global (i.e. the spring-mass model dynamics and centre-of-mass height) and local (i.e. knee and ankle kinematics and kinetics) biomechanical adjustments during uneven running are specific to the step nature and trunk posture. Unlike the anterior-leaning posture, running with a posterior trunk lean is characterized by increases in leg angle, leg compression, knee flexion angle and moment, resulting in a stiffer knee and a more compliant spring-leg compared with the self-selected condition. In the approach step versus the level step, reductions in leg length and stiffness through the ankle stiffness yield lower leg force and centre-of-mass position. Contrariwise, significant increases in leg length, angle and force, and ankle moment, reflect in a higher centre-of-mass position during the step down. Plus, ankle stiffness significantly decreases, owing to a substantially increased leg compression. Overall, the step down appears to be dominated by centre-of-mass height changes, regardless of having a trunk lean. Observed adjustments during uneven running can be attributed to anticipation of changes to running posture and height. These findings highlight the role of trunk posture in human perturbed locomotion relevant for the design and development of exoskeleton or humanoid bipedal robots.

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