The influence of surface slope on human gait characteristics: a study of urban pedestrians walking on an inclined surface

Ergonomics ◽  
1996 ◽  
Vol 39 (4) ◽  
pp. 677-692 ◽  
Author(s):  
JIE SUN ◽  
MEGAN WALTERS ◽  
NOEL SVENSSON ◽  
DAVID LLOYD
Keyword(s):  
Human Gait ◽  
Surface Slope ◽  
Gait Characteristics ◽  
Inclined Surface

Collision of Two Mass Baton With Massive External Surfaces

2012 ◽  
Vol 79 (5) ◽  
Author(s):  
Ali Tavakoli ◽  
Mohamed Gharib ◽  
Yildirim Hurmuzlu
Keyword(s):  
Slope Angle ◽  
Surface Friction ◽  
Correlation Ratio ◽  
Constrained Motion ◽  
Surface Slope ◽  
Inclined Planes ◽  
Ground Impact ◽  
The Impact ◽  
Inclined Surface ◽  
Impact Problem

This paper presents the solution of the impact problem for a sliding/bouncing baton on flat and inclined planes subject to surface friction. The baton is assumed to have unilaterally constrained motion, which means one end slides on the ground while the other end collides with the ground. We use the impulse momentum approach and incorporate the impulse correlation ratio (ICR) hypothesis to solve the ground impact problem when the system has unilaterally constrained dynamics. Parametric investigations were carried out to examine the effect of the baton’s length and the inclined surface slope angle on the impulse correlation ratio. Numerical simulation and experiments were carried out to validate the model.

DYNAMIC BALANCE OF HUMANOID SYSTEMS IN REGULAR AND IRREGULAR GAITS: AN EXPANDED INTERPRETATION

2009 ◽  
Vol 06 (01) ◽  
pp. 117-145 ◽  
Author(s):  
MIOMIR VUKOBRATOVIĆ ◽  
BRANISLAV BOROVAC ◽  
VELJKO POTKONJAK ◽  
MILOŠ JOVANOVIĆ
Keyword(s):  
Dynamic Balance ◽  
Human Gait ◽  
Gait Parameters ◽  
Unstructured Environment ◽  
Acceleration And Deceleration ◽  
On Line ◽  
Line Trajectory ◽  
Single Support Phase ◽  
Inclined Surface ◽  
Flat Ground

The development of humanoid robotics during the last decades has undoubtedly resulted in numerous successful realizations in this area. One of the most important tasks that have been in the research focus is bipedal walk, which, despite the progress that has been made, has still remained an intriguing research task. The problem is not only how to realize a sustainable walk in an unstructured environment, requiring on-line trajectory planning and changes of gait parameters (turning, stopping, acceleration and deceleration, switching from the walk on a flat ground to the walk on an inclined surface or staircases, etc.), but the gait realization that will allow some additional activities such as, e.g. manipulation tasks. A prerequisite for the fulfillment of such requirements is that the system is dynamically balanced. On the other hand, we are witnesses of the diverse realizations of locomotion systems, from those with human-like feet, aiming to mimic in full the human gait, passive walkers, which practically roll on specially profiled feet, to the footless locomotion systems. It is quite clear that any of these systems can realize a gait, but our present study shows that performances of such walking systems are essentially different. In this sense we consider the minimal conditions for the realization of a dynamically balanced gait, analyze some examples of irregular gaits, and indicate the conditions in which particular phases of such gates are dynamically balanced. We point out the fact that in the presence of disturbances the transition to a dynamically (or even statically) balanced mode of the gait may prevent the system from falling. Besides, it is shown that at the end of the single-support phase of a dynamically balanced gait it is possible to "allow" a temporary, preplanned beforehand, loss of the dynamic balance without jeopardizing the gait realization only if the system has been prepared in advance for such an event. Finally, the work points out the indispensability of the regular, fully dynamically balanced gait for the simultaneous realization of locomotion-manipulation activities, as well as for the walk in an unstructured environment.

scholarly journals Sensory modulation of gait characteristics in human locomotion: a neuromusculoskeletal modeling study

2020 ◽  
Author(s):  
Andrea Di Russo ◽  
Dimitar Stanev ◽  
Stéphane Armand ◽  
Auke Ijspeert
Keyword(s):  
Central Pattern Generators ◽  
Step Length ◽  
Human Locomotion ◽  
The Other ◽  
Human Gait ◽  
Dimensional Parameter ◽  
Fast Walking ◽  
Gait Characteristics ◽  
Other Hand ◽  
Step Duration

AbstractThe central nervous system of humans and animals is able to modulate the activity in the spinal cord to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to the CPGs (Central Pattern Generators) feedforward oscillatory structures or to the feedback reflex circuits. CPG-based models could replicate slow and fast walking by changing only the oscillation’s properties. On the other hand, reflex-based models could achieve different behaviors mainly through optimizations of a large dimensional parameter space, but could not identify effectively individual key reflex parameters responsible for the modulation of gait characteristics. This study, investigates which reflex parameters modulate the gait characteristics through neuromechanical simulations. A recently developed reflex-based model is used to perform optimizations with different target behaviors on speed, step length and step duration in order to analyse the correlation between reflex parameters and their influence on these gait characteristics. We identified 9 key parameters that influence the target speed ranging from slow to fast walking (0.48 and 1.71 m/s) as well as a large range of step lengths (0.43 and 0.88 m) and step duration (0.51, 0.98 s). The findings show that specific reflexes during stance have a major effect on step length regulation mainly given by the contribution of positive force feedback on the ankle plantarflexors’ group. On the other hand, stretch reflexes active during swing of iliopsoas and gluteus maximus regulate all the gait characteristics under analysis. Additionally, the results show that the stretch reflex of the hamstring’s group during landing phase is responsible for modulating the step length and step duration. Additional validation studies in simulations demonstrated that the identified reflexes are sufficient to modulate gait in human locomotion. Thus, this study provides an overview of the possible reflexes to control the gait characteristics.Author summary

scholarly journals A Parametric Identification Method of Human Gait Differences and its Application in Rehabilitation

2019 ◽  
Vol 9 (21) ◽  
pp. 4581 ◽  
Author(s):  
Gao ◽  
Cui ◽  
Ji ◽  
Wang ◽  
Hu ◽  
...  
Keyword(s):  
Mathematical Models ◽  
Parametric Identification ◽  
Human Motion ◽  
Human Gait ◽  
Shape Parameters ◽  
Gait Characteristics ◽  
Normal Ranges ◽  
Angle Data ◽  
Motion Characteristic ◽  
Parametric Description

In order to understand the regularity of human motion, characteristic description is widely used in gait analysis. For completely expressing gait information and providing more concise indicators, parametric description is also particularly significant as a means of analysis. Therefore, in this paper, the mathematical models of gait curves based on the generalized extension-Bézier curve were investigated, of which the shape parameters were used as individual gait characteristics to distinguish whether the gait is normal or not and to assist in judging rehabilitation. To evaluate the models, angle data from three joints (hip, knee, and ankle) were recorded with motion capture system when participants (10 healthy males and 6 male patients with ankle fracture) were walking at comfortable velocity along a walkway. Then, the shape parameters of each subject were obtained by applying the mathematical models, and the parameter range of the normal group was further summarized. Through comparison, it could be found that most shape parameters of patients exceed the normal ranges in varying degrees, and are concentrated on specific parameters. The results can not only help to judge the recovery stages of patients but also figure out the corresponding abnormal postures, so as to provide guidance for rehabilitation training.

Human Gait Indicators of Carrying a Concealed Firearm : A Skeletal Tracking and Data Mining Approach

2018 ◽  
pp. 368-383
Author(s):  
Henry Muchiri ◽  
Ismail Ateya ◽  
Gregory Wanyembi
Keyword(s):  
Data Mining ◽  
Human Gait ◽  
Depth Camera ◽  
Joint Position ◽  
Public Places ◽  
Gait Characteristics ◽  
Data Mining Approach ◽  
Security Personnel ◽  
Gait Parameters ◽  
The Right

There has been an increase in crimes involving illegal firearms in the last couple of years. Previous studies have found that most illegal firearms are carried in a concealed manner. The detection therefore of persons carrying concealed firearms is critical in maintaining security especially in public places. Literature indicates that disruption in gait is a major indicator used by security personnel to detect persons carrying concealed firearms especially those tucked on the hip. However, the specific gait parameters that are indicative have not yet been quantitatively determined. The purpose of this study therefore is to analyze the gait of persons carrying a concealed firearm tucked on the right hip and to quantitatively determine the gait characteristics associated with carrying the firearm. A simulation of persons walking while carrying a concealed firearm and when unarmed was recorded using Kinect V2 depth camera. The depth camera provided 3D spatial skeletal joint position features of tracked joints for the armed and unarmed scenario. Paired t-tests were conducted to compare these features. Further, the results of the t-tests were related to the anatomical planes of Motion. Results showed that persons carrying a firearm demonstrated disrupted gait characterized by right arm abduction, left arm adduction, right leg adduction and extension. These findings extend existing gait indicators which can be employed by security personnel to identify persons carrying concealed firearms.

Human Gait Characteristics

1967 ◽  
Vol 9 (3) ◽  
pp. 146 ◽  
Author(s):  
R Contini ◽  
H Gage ◽  
R Drillis
Keyword(s):  
Human Gait ◽  
Gait Characteristics

scholarly journals Individuality decoded by running patterns: Movement characteristics that determine the uniqueness of human running

PLoS ONE ◽  
2021 ◽  
Vol 16 (4) ◽  
pp. e0249657
Author(s):  
Fabian Hoitz ◽  
Vinzenz von Tscharner ◽  
Jennifer Baltich ◽  
Benno M. Nigg
Keyword(s):  
Neural Network ◽  
Sagittal Plane ◽  
Gait Recognition ◽  
Transverse Plane ◽  
Human Gait ◽  
Ground Reaction Forces ◽  
Movement Trajectories ◽  
Gait Characteristics ◽  
The Neural Network ◽  
Reaction Forces

Human gait is as unique to an individual as is their fingerprint. It remains unknown, however, what gait characteristics differentiate well between individuals that could define the uniqueness of human gait. The purpose of this work was to determine the gait characteristics that were most relevant for a neural network to identify individuals based on their running patterns. An artificial neural network was trained to recognize kinetic and kinematic movement trajectories of overground running from 50 healthy novice runners (males and females). Using layer-wise relevance propagation, the contribution of each variable to the classification result of the neural network was determined. It was found that gait characteristics of the coronal and transverse plane as well as medio-lateral ground reaction forces provided more information for subject identification than gait characteristics of the sagittal plane and ground reaction forces in vertical or anterior-posterior direction. Additionally, gait characteristics during the early stance were more relevant for gait recognition than those of the mid and late stance phase. It was concluded that the uniqueness of human gait is predominantly encoded in movements of the coronal and transverse plane during early stance.

scholarly journals Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

2021 ◽  
Vol 17 (5) ◽  
pp. e1008594
Author(s):  
Andrea Di Russo ◽  
Dimitar Stanev ◽  
Stéphane Armand ◽  
Auke Ijspeert
Keyword(s):  
Force Feedback ◽  
Central Pattern Generators ◽  
Step Length ◽  
The Other ◽  
Human Gait ◽  
Dimensional Parameter ◽  
Fast Walking ◽  
Gait Characteristics ◽  
Other Hand ◽  
Step Duration

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central Pattern Generators) feedforward oscillatory structures or to feedback reflex circuits. CPG-based models could replicate slow and fast walking by changing only the oscillation’s properties. On the other hand, reflex-based models could achieve different behaviors through optimizations of large dimensional parameter spaces. However, they could not effectively identify individual key reflex parameters responsible for gait characteristics’ modulation. This study investigates which reflex parameters modulate the gait characteristics through neuromechanical simulations. A recently developed reflex-based model is used to perform optimizations with different target behaviors on speed, step length, and step duration to analyze the correlation between reflex parameters and their influence on these gait characteristics. We identified nine key parameters that may affect the target speed ranging from slow to fast walking (0.48 and 1.71 m/s) as well as a large range of step lengths (0.43 and 0.88 m) and step duration (0.51, 0.98 s). The findings show that specific reflexes during stance significantly affect step length regulation, mainly given by positive force feedback of the ankle plantarflexors’ group. On the other hand, stretch reflexes active during swing of iliopsoas and gluteus maximus regulate all the gait characteristics under analysis. Additionally, the results show that the hamstrings’ group’s stretch reflex during the landing phase is responsible for modulating the step length and step duration. Additional validation studies in simulations demonstrated that the modulation of identified reflexes is sufficient to regulate the investigated gait characteristics. Thus, this study provides an overview of possible reflexes involved in modulating speed, step length, and step duration of human gaits.

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