scholarly journals Dynamic Principles of Gait and Their Clinical Implications

2010 ◽  
Vol 90 (2) ◽  
pp. 157-174 ◽  
Author(s):  
Arthur D. Kuo ◽  
J. Maxwell Donelan
Keyword(s):  
Gait Pattern ◽  
Heel Strike ◽  
Dynamic Walking ◽  
Basic Principles ◽  
Passive Stability ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
The Central Nervous System ◽  
Biomechanical Features

A healthy gait pattern depends on an array of biomechanical features, orchestrated by the central nervous system for economy and stability. Injuries and other pathologies can alter these features and result in substantial gait deficits, often with detrimental consequences for energy expenditure and balance. An understanding of the role of biomechanics in the generation of healthy gait, therefore, can provide insight into these deficits. This article examines the basic principles of gait from the standpoint of dynamic walking, an approach that combines an inverted pendulum model of the stance leg with a pendulum model of the swing leg and its impact with the ground. The heel-strike at the end of each step has dynamic effects that can contribute to a periodic gait and its passive stability. Biomechanics, therefore, can account for much of the gait pattern, with additional motor inputs that are important for improving economy and stability. The dynamic walking approach can predict the consequences of disruptions to normal biomechanics, and the associated observations can help explain some aspects of impaired gait. This article reviews the basic principles of dynamic walking and the associated experimental evidence for healthy gait and then considers how the principles may be applied to clinical gait pathologies.

Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control

2016 ◽  
Vol 13 (02) ◽  
pp. 1550041 ◽  
Author(s):  
Juan Alejandro Castano ◽  
Zhibin Li ◽  
Chengxu Zhou ◽  
Nikos Tsagarakis ◽  
Darwin Caldwell
Keyword(s):  
Center Of Mass ◽  
Humanoid Robots ◽  
Gait Pattern ◽  
Gait Patterns ◽  
Foot Placement ◽  
Inverted Pendulum Model ◽  
Gait Parameters ◽  
Pendulum Model ◽  
Single Mass ◽  
Walking Velocity

This paper presents a novel online walking control that replans the gait pattern based on our proposed foot placement control using the actual center of mass (COM) state feedback. The analytic solution of foot placement is formulated based on the linear inverted pendulum model (LIPM) to recover the walking velocity and to reject external disturbances. The foot placement control predicts where and when to place the foothold in order to modulate the gait given the desired gait parameters. The zero moment point (ZMP) references and foot trajectories are replanned online according to the updated foothold prediction. Hence, only desired gait parameters are required instead of predefined or fixed gait patterns. Given the new ZMP references, the extended prediction self-adaptive control (EPSAC) approach to model predictive control (MPC) is used to minimize the ZMP response errors considering the acceleration constraints. Furthermore, to ensure smooth gait transitions, the conditions for the gait initiation and termination are also presented. The effectiveness of the presented gait control is validated by extensive disturbance rejection studies ranging from single mass simulation to a full body humanoid robot COMAN in a physics based simulator. The versatility is demonstrated by the control of reactive gaits as well as reactive stepping from standing posture. We present the data of the applied disturbances, the prediction of sagittal/lateral foot placements, the replanning of the foot/ZMP trajectories, and the COM responses.

Load-Regulating Mechanisms in Gait and Posture: Comparative Aspects

2000 ◽  
Vol 80 (1) ◽  
pp. 83-133 ◽  
Author(s):  
J. Duysens ◽  
F. Clarac ◽  
H. Cruse
Keyword(s):  
Functional Role ◽  
Stance Phase ◽  
Force Feedback ◽  
Sensory Information ◽  
Specific Load ◽  
Afferent Activity ◽  
Basic Principles ◽  
Load Sensing ◽  
The Central Nervous System

How is load sensed by receptors, and how is this sensory information used to guide locomotion? Many insights in this domain have evolved from comparative studies since it has been realized that basic principles concerning load sensing and regulation can be found in a wide variety of animals, both vertebrate and invertebrate. Feedback about load is not only derived from specific load receptors but also from other types of receptors that previously were thought to have other functions. In the central nervous system of many species, a convergence is found between specific and nonspecific load receptors. Furthermore, feedback from load receptors onto central circuits involved in the generation of rhythmic locomotor output is commonly found. During the stance phase, afferent activity from various load detectors can activate the extensor part in such circuits, thereby providing reinforcing force feedback. At the same time, the flexion is suppressed. The functional role of this arrangement is that activity in antigravity muscles is promoted while the onset of the next flexion is delayed as long as the limb is loaded. This type of reinforcing force feedback is present during gait but absent in the immoble resting animal.

Parameterized gait pattern generator based on linear inverted pendulum model with natural ZMP references

2016 ◽  
Vol 32 ◽  
Author(s):  
Ya-Fang Ho ◽  
Tzuu-Hseng S. Li ◽  
Ping-Huan Kuo ◽  
Yan-Ting Ye
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Gait Pattern ◽  
Gait Patterns ◽  
Gait Planning ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Lateral Plane ◽  
Planning Algorithm ◽  
Zero Moment

AbstractThis paper presents a parameterized gait generator based on linear inverted pendulum model (LIPM) theory, which allows users to generate a natural gait pattern with desired step sizes. Five types of zero moment point (ZMP) components are proposed for formulating a natural ZMP reference, where ZMP moves continuously during single support phases instead of staying at a fixed point in the sagittal and lateral plane. The corresponding center of mass (CoM) trajectories for these components are derived by LIPM theory. To generate a parameterized gait pattern with user-defined parameters, a gait planning algorithm is proposed, which determines related coefficients and boundary conditions of the CoM trajectory for each step. The proposed parameterized gait generator also provides a concept for users to generate gait patterns with self-defined ZMP references by using different components. Finally, the feasibility of the proposed method is validated by the experimental results with a teen-sized humanoid robot, David, which won first place in the sprint event at the 20th Federation of International Robot-soccer Association (FIRA) RoboWorld Cup.

scholarly journals A simple control algorithm for controlling biped dynamic walking with stopping ability based on the footed inverted pendulum model

2016 ◽  
Vol 8 (9) ◽  
pp. 168781401667028
Author(s):  
Pengfei Wang ◽  
Guocai Liu ◽  
Fusheng Zha ◽  
Wei Guo ◽  
Mantian Li ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Inverted Pendulum ◽  
Dynamic Walking ◽  
Inverted Pendulum Model ◽  
Pendulum Model

The Condition of Dynamic Stability for Self-Paced Treadmill Walking Based on Inverted Pendulum Model

2020 ◽  
Author(s):  
Yuyang Qian ◽  
Kaiming Yang ◽  
Yu Zhu ◽  
Wei Wang ◽  
Chenhui Wan
Keyword(s):  
Inverted Pendulum ◽  
Inertial Frame ◽  
Walking Speed ◽  
Simulation Analysis ◽  
Treadmill Walking ◽  
Heel Strike ◽  
Gait Stability ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Simulation Results

Abstract A self-paced treadmill automatically adjusts speed in real-time to match the user’s walking speed, presumably leading to a more nature gait than fixed-speed treadmill. However, previous study has proven that the acceleration applied to the subjects would influence the gait stability. In order to have insights on to which extent will the accelerations affect gait stability, simulation analysis based on conceptual model has been done in the current study. This paper utilized a non-inertial frame based spring-loaded inverted pendulum model to analysis the condition of stability during continuous self-paced treadmill walking. Simulations were done for 100 continuous self-paced treadmill walking at the normal walking speed. And 10ms impulse accelerations of different magnitudes with the range of (−1g, 1g) were applied at different gait events such as toe-off, foot-flat and heel-strike. The simulation results showed that the magnitude of the accelerations had significantly influence on continuous self-paced treadmill walking and directional-dependency was also found. However, no significantly difference was found when applying the impulse acceleration at different gait events.

scholarly journals WHAT IN THE “HEEL” DO THEY FEEL? 15303

2018 ◽  
Author(s):  
Megan Smith
Keyword(s):  
Postural Control ◽  
Oral Presentation ◽  
Gait Pattern ◽  
Smooth Transition ◽  
Heel Strike ◽  
Initial Contact ◽  
Cutaneous Mechanoreceptors ◽  
National Assembly ◽  
Plantar Surface

INTRODUCTION A typical gait pattern includes a heel strike, followed by a smooth transition to foot flat through loading response. Children with poor postural control and related gait deficits often present with anterior weight lines, which result in loss of first rocker and/or a fast transition from initial contact to footflat. The foot has many important jobs, including providing proprioceptive feedback. There are 104 cutaneous mechanoreceptors on the plantar surface of the foot.1 While most of the sensors are in the metatarsal/tarsal and toe regions, we cannot forget the role of the mechanoreceptors in the heel. Abstract PDF  Link: https://jps.library.utoronto.ca/index.php/cpoj/article/view/32044/24458 How to cite: Smith M.  WHAT IN THE “HEEL” DO THEY FEEL? 15303. CANADIAN PROSTHETICS & ORTHOTICS JOURNAL, VOLUME 1, ISSUE 2, 2018; ABSTRACT, ORAL PRESENTATION AT THE AOPA’S 101ST NATIONAL ASSEMBLY, SEPT. 26-29, VANCOUVER, CANADA, 2018. DOI: https://doi.org/10.33137/cpoj.v1i2.32044 Abstracts were Peer-reviewed by the American Orthotic Prosthetic Association (AOPA) 101st National Assembly Scientific Committee.  http://www.aopanet.org/

scholarly journals Measuring Spatiotemporal Parameters on Treadmill Walking Using Wearable Inertial System

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4441
Author(s):  
Sofia Scataglini ◽  
Stijn Verwulgen ◽  
Eddy Roosens ◽  
Robby Haelterman ◽  
Damien Van Tiggelen
Keyword(s):  
Stance Phase ◽  
Gait Cycle ◽  
Step Length ◽  
Heel Strike ◽  
Inverted Pendulum Model ◽  
Gait Parameters ◽  
Pendulum Model ◽  
Spatiotemporal Parameters ◽  
Absolute Agreement ◽  
And Performance

This study aims to measure and compare spatiotemporal gait parameters in nineteen subjects using a full wearable inertial mocap system Xsens (MVN Awinda, Netherlands) and a photoelectronic system one-meter OptoGaitTM (Microgait, Italy) on a treadmill imposing a walking speed of 5 km/h. A total of eleven steps were considered for each subject constituting a dataset of 209 samples from which spatiotemporal parameters (SPT) were calculated. The step length measurement was determined using two methods. The first one considers the calculation of step length based on the inverted pendulum model, while the second considers an anthropometric approach that correlates the stature with an anthropometric coefficient. Although the absolute agreement and consistency were found for the calculation of the stance phase, cadence and gait cycle, from our study, differences in SPT were found between the two systems. Mean square error (MSE) calculation of their speed (m/s) with respect to the imposed speed on a treadmill reveals a smaller error (MSE = 0.0008) using the OptoGaitTM. Overall, our results indicate that the accurate detection of heel strike and toe-off have an influence on phases and sub-phases for the entire acquisition. Future study in this domain should investigate how to design and integrate better products and algorithms aiming to solve the problematic issues already identified in this study without limiting the user’s need and performance in a different environment.

Energy-efficient gait generation for biped robot based on the passive inverted pendulum model

Robotica ◽  
2010 ◽  
Vol 29 (4) ◽  
pp. 595-605 ◽  
Author(s):  
Jian Li ◽  
Weidong Chen
Keyword(s):  
Energy Efficient ◽  
Inverted Pendulum ◽  
Mechanical Energy ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Good Energy ◽  
Efficient Gait

SUMMARYFrom the viewpoint of the system's mechanical energy, the passive inverted pendulum model (PIPM) is proposed for the generation of more energy-efficient biped gait pattern. The generated walking pattern, based on the PIPM, enables the fully actuated biped robots to closely mimic the behavior of stable passive walking, so that it can have good energy-efficiency, which is the inherent advantage of the passive system. Furthermore, the pattern generation method is extended to any desired terrain as well. As for SHR-1, the first-generation biped robot of Shanghai Jiao Tong University, gait synthesis is clarified in detail. Finally, the walking experiments are carried out on SHR-1, and the effectiveness of the proposed pattern generation method is confirmed.

Sign in / Sign up

Export Citation Format

Share Document