Normal Human Gait | ScienceGate

This paper presents the design procedure of a biomechanical leg, with a passive toe joint, which is capable of mimicking the human walking. This leg has to provide the major features of human gait in the motion trajectories of the hip, knee, ankle, and toe joints. Focus was given to the approach of designing the passive toe joint of the biomechanical leg in its role and effectiveness in performing human like motion. This study was inspired by experimental and theoretical studies in the fields of biomechanics and robotics. Very light materials were mainly used in the design process. Aluminum and carbon fiber parts were selected to design the proposed structure of this biomechanical leg, which is to be manufactured in the Mechanical Lab of the Sultan Qaboos University (SQU). The capabilities of the designed leg to perform the normal human walking are presented. This study provides a noteworthy and unique design for the passive toe joint, represented by a mass-spring damper system, using torsion springs in the foot segment. The working principle and characteristics of the passive toe joint are discussed. Four-designed cases, with different design parameters, for the passives toe joint system are presented to address the significant role that the passive toe joint plays in human-like motion. The dynamic motion that is used to conduct this comparison was the first stage of the stance motion. The advantages of the presence of the passive toe joint in gait, and its effect on reducing the energy consumption by the other actuated joints are presented and a comparison between the four-designed cases is discussed.

Autonomic Computing in a Biomimetic Algorithm for Robots Dedicated to Rehabilitation of Ankle

Robotic Systems ◽

10.4018/978-1-7998-1754-3.ch047 ◽

2020 ◽

pp. 955-968

Author(s):

Euzébio D. de Souza ◽

Eduardo José Lima II

Keyword(s):

Autonomic Computing ◽

Human Mobility ◽

Lower Limbs ◽

Human Gait ◽

Locomotor System ◽

Physiological Processes ◽

Torque Generation ◽

Reaction Forces ◽

Normal Human ◽

Robotic Devices

Human mobility is the key element of everyday life, its reduction or loss deeply affects daily activities. In assisted rehabilitation, robotic devices have focuses on the biomechanics of motor control. However, biomechanics does not study the neurological and physiological processes related to normal gait. Biomimetics combined with biomechanics, can generate a more efficient stimulation of the motor cortex and the locomotor system. The highest efficiency obtained through torque generation models, based on the physiological response of muscles and bones to reaction forces, together with control techniques based on autonomic computation. An autonomic control algorithm has a self-adjusting behaviour, ensuring patient safety and robot operation without the continuous monitoring of the physiotherapist. Thus, this work will identify the elements that characterize the physiological stimuli related to normal human gait, focusing on the ankle joint, aiming the development of biomimetic algorithms for robots for rehabilitation of the lower limbs.

Autonomic Computing in a Biomimetic Algorithm for Robots Dedicated to Rehabilitation of Ankle

International Journal of Grid and High Performance Computing ◽

10.4018/ijghpc.2017010105 ◽

2017 ◽

Vol 9 (1) ◽

pp. 48-60

Author(s):

Euzébio D. de Souza ◽

Eduardo José Lima II

Keyword(s):

Autonomic Computing ◽

Human Mobility ◽

Lower Limbs ◽

Human Gait ◽

Locomotor System ◽

Physiological Processes ◽

Reaction Forces ◽

Normal Human ◽

Robotic Devices ◽

Rehabilitation Robotic

Human mobility is the key element of everyday life, its reduction or loss deeply affects daily activities. In assisted rehabilitation, robotic devices have focuses on the biomechanics of motor control. However, biomechanics does not study the neurological and physiological processes related to normal gait. Biomimetics combined with biomechanics, can generate a more efficient stimulation of the motor cortex and the locomotor system. The highest efficiency obtained through torque generation models, based on the physiological response of muscles and bones to reaction forces, together with control techniques based on autonomic computation. An autonomic control algorithm has a self-adjusting behaviour, ensuring patient safety and robot operation without the continuous monitoring of the physiotherapist. Thus, this work will identify the elements that characterize the physiological stimuli related to normal human gait, focusing on the ankle joint, aiming the development of biomimetic algorithms for robots for rehabilitation of the lower limbs.

Modeling and Control of Nonlinear Series Elastic Actuator

Volume 4: ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference ◽

10.1115/detc2007-34997 ◽

2007 ◽

Cited By ~ 3

Author(s):

Ehsan Basafa ◽

Hassan Salarieh ◽

Aria Alasty

Keyword(s):

Nonlinear Models ◽

Human Gait ◽

Output Impedance ◽

Modeling And Control ◽

Series Elastic Actuator ◽

Scheduling Method ◽

Normal Human ◽

Series Elastic Actuators ◽

And Control ◽

Series Elastic

Series Elastic Actuators are force actuators with applications in robotics and biomechanics. In linear Series Elastic Actuators, a large force bandwidth requires a stiff sensor (spring), but the output impedance puts an upper limit on this parameter, therefore selecting the proper spring is difficult in these actuators. In this paper, Series Elastic Actuator is modeled with a nonlinear, stiffening spring and controlled using the Gain Scheduling method. Simulations show that both linear and nonlinear models have similar force bandwidths, but the nonlinear one shows much lower output impedance. Hence, the choice of spring for actuator design is an easier task than that of the linear model. Also, as a force-augmenting device for the knee joint in normal human gait, the nonlinear model acts better in simulations.

The superimposed adjustments for obstacle clearance and level-to-stair transition during normal human gait

Journal of Biomechanics ◽

10.1016/0021-9290(94)91355-2 ◽

1994 ◽

Vol 27 (6) ◽

pp. 809

Author(s):

Bradford J. McFadyen ◽

Heather Carnahan

Keyword(s):

Human Gait ◽

Obstacle Clearance ◽

Normal Human

A multisegment computer simulation of normal human gait

IEEE Transactions on Rehabilitation Engineering ◽

10.1109/86.650281 ◽

1997 ◽

Vol 5 (4) ◽

pp. 290-299 ◽

Cited By ~ 23

Author(s):

L.A. Gilchrist ◽

D.A. Winter

Keyword(s):

Computer Simulation ◽

Human Gait ◽

Normal Human

Anatomy of normal human gait

The FASEB Journal ◽

10.1096/fasebj.21.5.a83 ◽

2007 ◽

Vol 21 (5) ◽

Author(s):

Lawrence J Rizzolo

Keyword(s):

Human Gait ◽

Normal Human

Position and Weight Activated Passive Knee Mechanism

Volume 3: Biomedical and Biotechnology Engineering ◽

10.1115/imece2015-53229 ◽

2015 ◽

Author(s):

Tyagi Ramakrishnan ◽

Christina-Anne Lahiff ◽

Asgard Kaleb Marroquin ◽

Kyle B. Reed

Keyword(s):

Human Gait ◽

Low Friction ◽

Human Knee ◽

Prosthetic Knee ◽

Normal Knee ◽

Locking Mechanism ◽

Angular Velocities ◽

Normal Human ◽

Prosthetic Knees ◽

Simple Assembly

The human knee is a complex and robust system. It is the most important joint for human gait because of its immense load bearing ability. The loss of such an important joint often makes it difficult for a person to ambulate. Because of this and the resulting unnatural application of forces, many trans-femoral amputees develop an asymmetric gait that leads to future complications. Prosthetic knees are required to be well-designed to cope with all variabilities. There have been many prosthetic knee designs, some more complex than others. This paper describes the design and preliminary testing of a novel passive position and weight activated knee locking mechanism for use in lower limb prosthetics. This knee mechanism is designed to be a simple and economical alternative to existing knee mechanisms. The mechanism utilizes the dynamics of the user to lock the knee during stance and unlock during the swing phase. The presence of one moving component and a simple assembly makes this design a good base for customization. Results from testing the knee mechanism shows trends that are different from a normal human knee, which is to be expected. The prosthetic knee is designed to have low friction during swing of the shank and, hence, the flexion and extension angles and angular velocities are larger compared to a normal knee. The kinematics show a cyclic trend that is highly repeatable. Further refinement and testing can make this mechanism more efficient in mimicking a normal knee.

ADAPTIVE NEURAL NETWORK CONTROL OF A HUMAN SWING LEG AS A DOUBLE-PENDULUM CONSIDERING SELF-IMPACT JOINT CONSTRAINT

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-2015-0015 ◽

2015 ◽

Vol 39 (2) ◽

pp. 201-219 ◽

Cited By ~ 2

Author(s):

Yousef Bazargan-Lari ◽

Mohammad Eghtesad ◽

Ahmad R. Khoogar ◽

Alireza Mohammad-Zadeh

Keyword(s):

Neural Network ◽

Primary Objective ◽

Network Control ◽

Knee Joints ◽

Human Walking ◽

Human Gait ◽

Double Pendulum ◽

Adaptive Neural Network ◽

Adaptive Neural Network Control ◽

Normal Human

For human walking, the swing leg is usually modeled as a double pendulum. Considering a joint self-impact constraint at the knee joint of the double pendulum model is the main difference in this study. The primary objective of this research is to propose a nonlinear Adaptive Neural Network (ANN) for this system. By using Gaussian RBF networks, asymptotically stable tracking is attained. We will use the available data of normal human walking for the desired trajectories of the hip and knee joints. By simulation of the system, we perceive that the swing leg tracks the normal human gait with a negligible and tolerable error.