scholarly journals Humanoid standing control: learning from human demonstration

2002 ◽  
Vol 12 (1) ◽  
pp. 16-22 ◽  
Author(s):  
Andreas Hofmann ◽  
Marko Popovic ◽  
Hugh Herr
Keyword(s):  
Ground Reaction Force ◽  
Center Of Pressure ◽  
Human Subjects ◽  
Reaction Force ◽  
Morphological Data ◽  
Human Model ◽  
Joint Torques ◽  
Double Support ◽  
High Level ◽  
Force Data

A three-dimensional numerical model of human standing is presented that reproduces the dynamics of simple swaying motions while in double-support. The human model is structurally realistic, having both trunk and two legs with segment lengths and mass distributions defined using human morphological data from the literature. In this investigation, model stability in standing is achieved through the application of a high-level reduced-order control system where stabilizing forces are applied to the model's trunk by virtual spring- damper elements. To achieve biologically realistic model dynamics, torso position and ground reaction force data measured on human subjects are used as demonstration data in a supervised learning strategy. Using Powell's method, the error between simulation data and measured human data is minimized by varying the virtual high-level force field. Once optimized, the model is shown to track torso position and ground reaction force data from human demonstrations. With only these limited demonstration data, the humanoid model sways in a biologically realistic manner. The model also reproduces the center-of-pressure trajectory beneath the foot, even though no error term for this is included in the optimization algorithm. This indicates that the error terms used (the ones for torso position and ground reaction force) are sufficient to compute the correct joint torques such that independent metrics, like center-of-pressure trajectory, are correct.

scholarly journals Injury prevention in Super-G alpine ski racing through course design

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Matthias Gilgien ◽  
Philip Crivelli ◽  
Josef Kröll ◽  
Live S. Luteberget ◽  
Erich Müller ◽  
...  
Keyword(s):  
Ground Reaction Force ◽  
Course Design ◽  
Reaction Force ◽  
Global Navigation Satellite Systems ◽  
World Cup ◽  
Satellite Systems ◽  
Turn Radius ◽  
Energy Dissipated ◽  
Global Navigation Satellite ◽  
High Level

AbstractIn Super-G alpine ski racing mean speed is nearly as high as in Downhill. Hence, the energy dissipated in typical impact accidents is similar. However, unlike Downhill, on Super-G courses no training runs are performed. Accordingly, speed control through course design is a challenging but important task to ensure safety in Super-G. In four male World Cup alpine Super-G races, terrain shape, course setting and the mechanics of a high-level athlete skiing the course were measured with differential global navigation satellite systems (dGNSS). The effects of course setting on skier mechanics were analysed using a linear mixed effects model. To reduce speed by 0.5 m/s throughout a turn, the gate offset needs to be increased by + 51%. This change simultaneously leads to a decrease in minimal turn radius (− 19%), an increase in impulse (+ 27%) and an increase in maximal ground reaction force (+ 6%). In contrast, the same reduction in speed can also be achieved by a − 13% change in vertical gate distance, which also leads to a small reduction in minimal turn radius (− 4%) impulse (− 2%), and no change in maximal ground reaction force; i.e. fewer adverse side effects in terms of safety. It appears that shortening the vertical gate distance is a better and safer way to reduce speed in Super-G than increasing the gate offset.

Ground reaction force and hoof deceleration patterns on two different surfaces at the trot

2006 ◽  
Vol 3 (4) ◽  
pp. 209-216 ◽  
Author(s):  
Pia Gustås ◽  
Christopher Johnston ◽  
Stig Drevemo
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Force Plate ◽  
Ground Surface ◽  
Ground Reaction Forces ◽  
Triaxial Accelerometer ◽  
Loading Rates ◽  
Sand Surface ◽  
Reaction Forces ◽  
Force Data

AbstractThe objective of the present study was to compare the hoof deceleration and ground reaction forces following impact on two different surfaces. Seven unshod Standardbreds were trotted by hand at 3.0–5.7 m s− 1 over a force plate covered by either of the two surfaces, sandpaper or a 1 cm layer of sand. Impact deceleration data were recorded from one triaxial accelerometer mounted on the fore- and hind hooves, respectively. Ground reaction force data were obtained synchronously from a force plate, sampled at 4.8 kHz. The differences between the two surfaces were studied by analysing representative deceleration and force variables for individual horses. The maximum horizontal peak deceleration and the loading rates of the vertical and the horizontal forces were significantly higher on sandpaper compared with the sand surface (P < 0.001). In addition, the initial vertical deceleration was significantly higher on sandpaper in the forelimb (P < 0.001). In conclusion, it was shown that the different qualities of the ground surface result in differences in the hoof-braking pattern, which may be of great importance for the strength of the distal horse limb also at slow speeds.

scholarly journals Gutenberg Gait Database, a ground reaction force database of level overground walking in healthy individuals

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Fabian Horst ◽  
Djordje Slijepcevic ◽  
Marvin Simak ◽  
Wolfgang I. Schöllhorn
Keyword(s):  
Ground Reaction Force ◽  
Center Of Pressure ◽  
Reaction Force ◽  
Three Dimensional ◽  
Human Gait ◽  
Healthy Individuals ◽  
Overground Walking ◽  
Gait Patterns ◽  
Specific Factors ◽  
Gait Database

AbstractThe Gutenberg Gait Database comprises data of 350 healthy individuals recorded in our laboratory over the past seven years. The database contains ground reaction force (GRF) and center of pressure (COP) data of two consecutive steps measured - by two force plates embedded in the ground - during level overground walking at self-selected walking speed. The database includes participants of varying ages, from 11 to 64 years. For each participant, up to eight gait analysis sessions were recorded, with each session comprising at least eight gait trials. The database provides unprocessed (raw) and processed (ready-to-use) data, including three-dimensional GRF and two-dimensional COP signals during the stance phase. These data records offer new possibilities for future studies on human gait, e.g., the application as a reference set for the analysis of pathological gait patterns, or for automatic classification using machine learning. In the future, the database will be expanded continuously to obtain an even larger and well-balanced database with respect to age, sex, and other gait-specific factors.

Digital bathroom scales with open source software provide valid dynamic ground reaction force data for assessment and biofeedback

2021 ◽  
Vol 84 ◽  
pp. 137-140
Author(s):  
Ross A. Clark ◽  
Benjamin F. Mentiplay ◽  
Hong Han Tan ◽  
Louise Bechard ◽  
Emma Hough ◽  
...  
Keyword(s):  
Open Source ◽  
Open Source Software ◽  
Ground Reaction Force ◽  
Reaction Force ◽  
Force Data

Measurement differences between three versus five photocells during collection of ground reaction forces in dogs

2007 ◽  
Vol 02 (02) ◽  
pp. 98-101 ◽  
Author(s):  
J. P. Punke ◽  
A. L. Speas ◽  
L. R. Reynolds ◽  
C. M. Andrews ◽  
S. C. Budsberg
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
False Negative ◽  
False Negative Rate ◽  
Second Phase ◽  
False Negatives ◽  
Two Systems ◽  
Reaction Forces ◽  
Force Data ◽  
Gathering Data

SummaryThe differences between velocities and accelerations obtained from three and five photocells were examined when obtaining ground reaction force (GRF) data in dogs. Ground reaction force data was collected 259 times from 16 different dogs in two experimental phases. The first phase compared velocities and accelerations reported by the two systems based on trials accepted by the three photocell system. The second phase accepted trials based on data from five photocells. Three photocell data were calculated mathematically in the second phase in order to compare the values of both systems. The velocity and acceleration values obtained from each system were significantly different (at the hundredth of a meter per second). Differences in measured values did not result in acceptance of data by the three photocell system that would not have been acceptable with the five photocell system (false positives), but did result in rejection of acceptable data by the three photocell system (11% false negative rate). Given the small differences between the two systems, GRF data collected should not be significantly different, though the three photocell system is less efficient in gathering data due to the number of trials rejected as false negatives.

Robust Bipedal Locomotion Based on a Hierarchical Control Structure

Robotica ◽  
2019 ◽  
Vol 37 (10) ◽  
pp. 1750-1767 ◽  
Author(s):  
Jianwen Luo ◽  
Yao Su ◽  
Lecheng Ruan ◽  
Ye Zhao ◽  
Donghyun Kim ◽  
...  
Keyword(s):  
Center Of Pressure ◽  
Center Of Mass ◽  
Hierarchical Control ◽  
Middle Level ◽  
Smooth Transition ◽  
Whole Body ◽  
Joint Torques ◽  
Low Level ◽  
Hybrid Controller ◽  
High Level

SummaryTo improve biped locomotion’s robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The planning procedure is simplified by selecting the midpoint between two consecutive Center of Pressure (CoP) points as the feature point. At the middle level, a novel robust hybrid controller is devised to drive perturbed system states back to the nominal trajectory within finite cycles without chattering. The novelty lies in that the hybrid controller is not subject to linear CoM dynamic constraints. The hybrid controller consists of two sub-controllers: an oscillation controller and a smoothing controller. For the oscillation controller, the desired CoM height is specified as a sine-shaped function, avoiding a new attractive limit cycle. However, this controller results in the inevitable chattering because of discontinuities. A smoothing controller provides continuous properties and thus can inhibit the chattering problem, but has a smaller region of attraction compared with the oscillation controller. A hybrid controller merges the two controllers for a smooth transition. At the low level, the desired CoM motion is defined as tasks and embedded in a whole body operational space (WBOS) controller to compute the joint torques analytically. The novelty of the low-level controller lies in that within the WBOS framework, CoM motion is not subject to fixed CoM dynamics and thus can be generalized.

Evaluation of Two Ankle Appliances Using Ground Reaction Force Data

1986 ◽  
Vol 7 (5) ◽  
pp. 244-249 ◽  
Author(s):  
J. Hamill ◽  
K. M. Knutzen ◽  
B. T. Bates ◽  
G. Kirkpatrick
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Force Data
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