Three-dimensional dynamic bipedal walking based on passive dynamic walking mechanism using telescopic knee via phase oscillator with ground reaction force

2018 ◽  
Vol 24 (2) ◽  
pp. 172-177
Author(s):  
Tetsuya Kinugasa ◽  
Tomoki Tada ◽  
Yuki Yokoyama ◽  
Koji Yoshida ◽  
Ryota Hayashi ◽  
...  
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Three Dimensional ◽  
Bipedal Walking ◽  
Phase Oscillator ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Walking Mechanism

scholarly journals The Effects of Posture on the Three-Dimensional Gait Mechanics of Human Walking in Comparison to Bipedal Chimpanzees

2021 ◽  
Author(s):  
Russell T. Johnson ◽  
Matthew C. O'Neill ◽  
Brian R. Umberger
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Three Dimensional ◽  
Bipedal Walking ◽  
Human Walking ◽  
Ground Reaction Forces ◽  
Vertical Ground Reaction Force ◽  
Gait Mechanics ◽  
Reaction Forces ◽  
Vertical Ground

Humans walk with an upright posture on extended limbs during stance and with a double-peaked vertical ground reaction force. Our closest living relatives, chimpanzees, are facultative bipeds that walk with a crouched posture on flexed, abducted hind limbs and with a single-peaked vertical ground reaction force. Differences in human and bipedal chimpanzee three-dimensional kinematics have been well quantified; however, it is unclear what the independent effects of using a crouched posture are on three-dimensional gait mechanics for humans, and how they compare with chimpanzees. Understanding the relationships between posture and gait mechanics, with known differences in morphology between species, can help researchers better interpret the effects of trait evolution on bipedal walking. We quantified pelvis and lower limb three-dimensional kinematics and ground reaction forces as humans adopted a series of upright and crouched postures and compared them with data from bipedal chimpanzee walking. Human crouched posture gait mechanics were more similar to bipedal chimpanzee gait than normal human walking, especially in sagittal plane hip and knee angles. However, there were persistent differences between species, as humans walked with less transverse plane pelvis rotation, less hip abduction, and greater peak horizontal ground reaction force in late stance than chimpanzees. Our results suggest that human crouched posture walking reproduces only a small subset of the characteristics of three-dimensional kinematics and ground reaction forces of chimpanzee walking, with the remaining differences likely due in large part to the distinct musculoskeletal morphologies of humans and chimpanzees.

Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and Effects of Parameter Changes on Gait Patterns

2011 ◽  
Author(s):  
Kazi Rushdi ◽  
Derek Koop ◽  
Christine Q. Wu
Keyword(s):  
Small Difference ◽  
Bipedal Walking ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Gait Patterns ◽  
Belt Speed ◽  
Gait Parameters ◽  
Flat Feet ◽  
Walking Mechanism ◽  
Treadmill Belt

Passive dynamic walking is a gait developed, partially or in whole, by the energy provided by gravity. An improved kneed bipedal walking mechanism was designed and built to study passive gait patterns. The first aim of this study is to determine if testing a passive dynamic biped walker on a ramp is equivalent to testing on a treadmill. Based on the small difference between the gait patterns measured on the two test platforms, testing on a treadmill is equivalent to testing on a ramp. Measurement of the gait parameters were then conducted on the treadmill to evaluate the effects of the treadmill angle of inclination, mass distribution of the biped, treadmill belt speed and length of flat feet. Our experimental results are presented and compared with previous experimental and simulation results. Research on passive dynamic bipedal walking helps to develop an understanding of walking mechanics. Moreover, experimental passive dynamic walking results provide information to validate mathematical models of passive dynamic walking.

scholarly journals Gait Disorders In Patients After Polytrauma

2015 ◽  
Vol 69 (1-2) ◽  
pp. 27-32
Author(s):  
Ruta Jakušonoka ◽  
Zane Pavāre ◽  
Andris Jumtiņš ◽  
Aleksejs Smolovs ◽  
Tatjana Anaņjeva
Keyword(s):  
Ground Reaction Force ◽  
Knee Flexion ◽  
Reaction Force ◽  
Three Dimensional ◽  
Step Length ◽  
Vertical Load ◽  
Lower Limb Injuries ◽  
Limb Injuries ◽  
Stance Time ◽  
Polytrauma Patients

Abstract Evaluation of the gait of patients after polytrauma is important, as it indicates the ability of patients to the previous activities and work. The aim of our study was to evaluate the gait of patients with lower limb injuries in the medium-term after polytrauma. Three-dimensional instrumental gait analysis was performed in 26 polytrauma patients (16 women and 10 men; mean age 38.6 years), 14 to 41 months after the trauma. Spatio-temporal parameters, motions in pelvis and lower extremities joints in sagittal plane and vertical load ground reaction force were analysed. Gait parameters in polytrauma patients were compared with a healthy control group. Polytrauma patients in the injured side had decreased step length, cadence, hip extension, maximum knee flexion, vertical load ground reaction force, and increased stance time and pelvic anterior tilt; in the uninjured side they had decreased step length, cadence, maximum knee flexion, vertical load ground reaction force and increased stance time (p < 0.05). The use of the three-dimensional instrumental gait analysis in the evaluation of polytrauma patients with lower limb injuries consequences makes it possible to identify the gait disorders not only in the injured, but also in the uninjured side.

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.

Study of Two-Dimensional Passive Dynamic Walking Mechanism

2003 ◽  
Vol 2003.43 (0) ◽  
pp. 218-219
Author(s):  
Hiroyuki HARADA ◽  
Tadao KAGIWADA ◽  
Takumi SHIMIZU
Keyword(s):  
Two Dimensional ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Walking Mechanism

Efficient dynamic bipedal walking using effects of semicircular feet

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 351-365 ◽  
Author(s):  
Fumihiko Asano ◽  
Zhi-Wei Luo
Keyword(s):  
Ankle Joint ◽  
High Speed ◽  
Joint Torque ◽  
Bipedal Walking ◽  
Convex Curve ◽  
Driving Mechanism ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Biped Robots ◽  
Flat Feet

SUMMARYAchieving energy-efficient and high-speed dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion, and passive dynamic walking has attracted a great deal of attention as a solution to this. It is empirically known that the convex curve of the foot, which characterizes passive–dynamic walkers, has an important effect on increasing the walking speed.This paper mainly discusses our investigations into the driving mechanism for compass-like biped robots and the rolling effect of semicircular feet. We first analyze the mechanism for a planar fully actuated compass-like biped model to clarify the importance of ankle-joint torque by introducing a generalized virtual-gravity concept. A planar underactuated biped model with semicircular feet is then introduced and we demonstrate that virtual passive dynamic walking only by hip-joint torque can be accomplished based on the rolling effect. We then compare the rolling effect with a flat feet model through linear approximation, and show that the rolling effect is equivalent to virtual ankle-joint torque. Throughout this paper, we provide novel insights into how zero-moment-point-free robots can generate a dynamic bipedal gait.

A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees

2001 ◽  
Vol 20 (7) ◽  
pp. 607-615 ◽  
Author(s):  
Steven H. Collins ◽  
Martijn Wisse ◽  
Andy Ruina
Keyword(s):  
Three Dimensional ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking
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