Accuracy evaluation of a method to partition ground reaction force and center of pressure in cane-assisted gait using an instrumented cane with a triaxial force sensor

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.

Download Full-text

A six-axis force sensor with parallel support mechanism to measure the ground reaction force of humanoid robot

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) ◽

10.1109/robot.2002.1013571 ◽

2003 ◽

Cited By ~ 16

Author(s):

K. Nishiwaki ◽

Y. Murakami ◽

S. Kagami ◽

Y. Kuniyoshi ◽

M. Inaba ◽

...

Keyword(s):

Ground Reaction Force ◽

Humanoid Robot ◽

Reaction Force ◽

Force Sensor ◽

Support Mechanism

Download Full-text

Humanoid standing control: learning from human demonstration

Journal of Automatic Control ◽

10.2298/jac0201016h ◽

2002 ◽

Vol 12 (1) ◽

pp. 16-22 ◽

Cited By ~ 3

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.

Download Full-text