scholarly journals Reducing gravity takes the bounce out of running

2017 ◽  
Author(s):  
Delyle T. Polet ◽  
Ryan T. Schroeder ◽  
John E. A. Bertram
Keyword(s):  
Stance Phase ◽  
Normal Gravity ◽  
Center Of Mass ◽  
Energetic Cost ◽  
Gravitational Acceleration ◽  
Reduced Gravity ◽  
Step Frequency ◽  
Energetic Costs ◽  
Gait Adaptation ◽  
Vertical Takeoff

AbstractIn gravity below Earth normal, a person should be able to take higher leaps in running. We asked ten subjects to run on a treadmill in five levels of simulated reduced gravity and optically tracked center of mass kinematics. Subjects consistentlyreducedballistic height compared to running in normal gravity. We explain this trend by considering the vertical takeoff velocity (defined as maximum vertical velocity). Energetically optimal gaits should balance energetic costs of ground-contact collisions (favouring lower takeoff velocity), and step frequency penalties such as leg swing work (favouring higher takeoff velocity, but less so in reduced gravity). Measured vertical takeoff velocity scaled with the square root of gravitational acceleration, following energetic optimality predictions and explaining why ballistic height decreases in lower gravity. The success of work-based costs in predicting this behaviour challenges the notion that gait adaptation in reduced gravity results from an unloading of the stance phase. Only the relationship between takeoff velocity and swing cost changes in reduced gravity; the energetic cost of the down-to-up transition for a given vertical takeoff velocity does not change with gravity. Because lower gravity allows an elongated swing phase for a given takeoff velocity, the motor control system can relax the vertical momentum change in the stance phase, so reducing ballistic height, without great energetic penalty to leg swing work. While it may seem counterintuitive, using less “bouncy” gaits in reduced gravity is a strategy to reduce energetic costs, to which humans seem extremely sensitive.Summary StatementDuring running, humans take higher leaps in normal gravity than in reduced gravity, in order to optimally balance the competing costs of stance and leg-swing work.

scholarly journals Contribution of blood oxygen and carbon dioxide sensing to the energetic optimization of human walking

2017 ◽  
Vol 118 (2) ◽  
pp. 1425-1433 ◽  
Author(s):  
Jeremy D. Wong ◽  
Shawn M. O’Connor ◽  
Jessica C. Selinger ◽  
J. Maxwell Donelan
Keyword(s):  
Perceived Exertion ◽  
Human Walking ◽  
Human Gait ◽  
Energetic Cost ◽  
Blood Oxygen ◽  
Blood Gas ◽  
Step Frequency ◽  
Gait Adaptation ◽  
Gait Optimization ◽  
Sensing Cost

Human gait adaptation implies that the nervous system senses energetic cost, yet this signal is unknown. We tested the hypothesis that the blood gas receptors sense cost for gait optimization by controlling blood O2 and CO2 with step frequency as people walked. At the simulated energetic minimum, ventilation and perceived exertion were lowest, yet subjects preferred walking at their original frequency. This suggests that blood gas receptors are not critical for sensing cost during gait.

scholarly journals Vertical Jumping for Legged Robot Based on Quadratic Programming

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3679
Author(s):  
Dingkui Tian ◽  
Junyao Gao ◽  
Xuanyang Shi ◽  
Yizhou Lu ◽  
Chuzhao Liu
Keyword(s):  
Quadratic Programming ◽  
Stance Phase ◽  
Center Of Mass ◽  
Maximum Error ◽  
Legged Robot ◽  
Flight Phase ◽  
Programming Framework ◽  
Vertical Jumping ◽  
Control Schemes ◽  
And Control

The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control robot’s posture in the flight phase, in which the robot is underactuated owing to the foot leaving the ground. This paper introduces an approach of realizing the cyclic vertical jumping motion of a planar simplified legged robot that formulates the jump problem within a quadratic-programming (QP)-based framework. Unlike prior works, which have added different weights in front of control tasks to express the relative hierarchy of tasks, in our framework, the hierarchical quadratic programming (HQP) control strategy is used to guarantee the strict prioritization of the center of mass (CoM) in the stance phase while split dynamic equations are incorporated into the unified quadratic-programming framework to restrict the robot’s posture to be near a desired constant value in the flight phase. The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.

scholarly journals Walking in simulated reduced gravity: mechanical energy fluctuations and exchange

1999 ◽  
Vol 86 (1) ◽  
pp. 383-390 ◽  
Author(s):  
Timothy M. Griffin ◽  
Neil A. Tolani ◽  
Rodger Kram
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Gravitational Potential ◽  
Inverted Pendulum ◽  
Mechanical Energy ◽  
Center Of Mass ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Gravitational Potential Energy ◽  
Reduced Gravity

Walking humans conserve mechanical and, presumably, metabolic energy with an inverted pendulum-like exchange of gravitational potential energy and horizontal kinetic energy. Walking in simulated reduced gravity involves a relatively high metabolic cost, suggesting that the inverted-pendulum mechanism is disrupted because of a mismatch of potential and kinetic energy. We tested this hypothesis by measuring the fluctuations and exchange of mechanical energy of the center of mass at different combinations of velocity and simulated reduced gravity. Subjects walked with smaller fluctuations in horizontal velocity in lower gravity, such that the ratio of horizontal kinetic to gravitational potential energy fluctuations remained constant over a fourfold change in gravity. The amount of exchange, or percent recovery, at 1.00 m/s was not significantly different at 1.00, 0.75, and 0.50 G (average 64.4%), although it decreased to 48% at 0.25 G. As a result, the amount of work performed on the center of mass does not explain the relatively high metabolic cost of walking in simulated reduced gravity.

Energetics of walking and running: insights from simulated reduced-gravity experiments

1992 ◽  
Vol 73 (6) ◽  
pp. 2709-2712 ◽  
Author(s):  
C. T. Farley ◽  
T. A. McMahon
Keyword(s):  
Body Weight ◽  
Energy Consumption ◽  
Energetic Cost ◽  
Reduced Gravity ◽  
Low Levels

On Earth, a person uses about one-half as much energy to walk a mile as to run a mile. On another planet with lower gravity, would walking still be more economical than running? When people carry weights while they walk or run, energetic cost increases in proportion to the added load. It would seem to follow that if gravity were reduced, energetic cost would decrease in proportion to body weight in both gaits. However, we find that under simulated reduced gravity, the rate of energy consumption decreases in proportion to body weight during running but not during walking. When gravity is reduced by 75%, the rate of energy consumption is reduced by 72% during running but only by 33% during walking. Because reducing gravity decreases the energetic cost much more for running than for walking, walking is not the cheapest way to travel a mile at low levels of gravity. These results suggest that the link between the mechanics of locomotion and energetic cost is fundamentally different for walking and for running.

Effects of gravity on processing heavy metal fluoride fibers

1997 ◽  
Vol 12 (9) ◽  
pp. 2223-2225 ◽  
Author(s):  
Dennis S. Tucker ◽  
Gary L. Workman ◽  
Guy A. Smith
Keyword(s):  
Heavy Metal ◽  
Crystallization Temperature ◽  
Normal Gravity ◽  
Crystal Nucleation ◽  
Sounding Rocket ◽  
Metal Fluoride ◽  
Reduced Gravity ◽  
Rocket Flight ◽  
Heavy Metal Fluoride

The effects of gravity on the crystal nucleation of heavy metal fluoride fibers have been studied in preliminary experiments utilizing NASA's KC-135 reduced gravity aircraft and a microgravity sounding rocket flight. Commercially produced fibers were heated to the crystallization temperature in normal and reduced gravity. The fibers processed in normal gravity showed complete crystallization while the fibers processed in reduced gravity did not show signs of crystallization.

Simple Leg Placement Strategy for a One Legged Running Model

2012 ◽  
Author(s):  
Timothy Sullivan ◽  
Justin Seipel
Keyword(s):  
Stance Phase ◽  
Energy State ◽  
Center Of Mass ◽  
Mass Movement ◽  
Legged Locomotion ◽  
Energy Conserving ◽  
Lower Torque ◽  
The Stability ◽  
Time Required ◽  
Torque Values

The Spring Loaded Inverted Pendulum (SLIP) model was developed to describe center of mass movement patterns observed in animals, using only a springy leg and a point mass. However, SLIP is energy conserving and does not accurately represent any biological or robotic system. Still, this model is often used as a foundation for the investigation of improved legged locomotion models. One such model called Torque Damped SLIP (TD-SLIP) utilizes two additional parameters, a time dependent torque and dampening to drastically increase the stability. Forced Damped SLIP (FD-SLIP), a predecessor of TD-SLIP, has shown that this model can be further simplified by using a constant torque, instead of a time varying torque, while still maintaining stability. Using FD-SLIP as a base, this paper explores a leg placement strategy using a simple PI controller. The controller takes advantage of the fact that the energy state of FD-SLIP is symmetric entering and leaving the stance phase during steady state conditions. During the flight phase, the touch down leg angle is adjusted so that the energy dissipation due to dampening, during the stance phase, compensates for any imbalance of energy. This controller approximately doubles the region of stability when subjected to velocity perturbations at touchdown, enables the model to operate at considerably lower torque values, and drastically reduces the time required to recover from a perturbation, while using less energy. Finally, the leg placement strategy used effectively imitates the natural human response to velocity perturbations while running.

scholarly journals Dynamic Balancing Responses in Unilateral Transtibial Amputees Following Outward-Directed Perturbations During Slow Treadmill Walking Differ Considerably for Amputated and Non-Amputated Side

2021 ◽  
Author(s):  
Andrej Olenšek ◽  
Matjaž Zadravec ◽  
Helena Burger ◽  
Zlatko Matjačić
Keyword(s):  
Stance Phase ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Dynamic Balancing ◽  
Transtibial Amputation ◽  
Control Subjects ◽  
Foot Strike ◽  
Transtibial Amputees ◽  
Proprioceptive Function

Abstract BackgroundDue to disrupted motor and proprioceptive function lower limb amputation imposes considerable challenges associated with balance and greatly increases risk of falling in case of perturbations during walking. The aim of this study was to investigate dynamic balancing responses in unilateral transtibial amputees when they were subjected to perturbing pushes to the pelvis in outward direction at the time of foot strike on non-amputated and amputated side during slow walking.MethodsFourteen subjects with unilateral transtibial amputation and nine control subjects participated in the study. They were subjected to perturbations that were delivered to the pelvis at the time of foot strike of either the left or right leg. We recorded trajectories of center of pressure and center of mass, durations of in-stance and stepping periods as well as ground reaction forces. Statistical analysis was performed to determine significant differences in dynamic balancing responses between control subjects and subjects with amputation when subjected to outward-directed perturbation upon entering stance phases with non-amputated or amputated side.ResultsWhen outward-directed perturbations were delivered at the time of foot strike of the non-amputated leg, subjects with amputation were able to modulate center of pressure and ground reaction force similarly as control subjects which indicates application of in-stance balancing strategies. On the other hand, there was a complete lack of in-stance response when perturbations were delivered when the amputated leg entered the stance phase. Subjects with amputations instead used the stepping strategy and adjusted placement of the non-amputated leg in the ensuing stance phase to make a cross-step. Such response resulted in significantly higher displacement of center of mass. ConclusionsResults of this study suggest that due to the absence of the COP modulation mechanism, which is normally supplied by ankle motor function, people with unilateral transtibial amputation are compelled to choose the stepping strategy over in-stance strategy when they are subjected to outward-directed perturbation on the amputated side. However, the stepping response is less efficient than in-stance response. To improve their balancing responses to unexpected balance perturbation people fitted with passive transtibial prostheses should undergo perturbation-based balance training during clinical rehabilitation.

Airplane and Drop Experiments on Crystallization of InxGa1−xSb Semiconductor under Different Gravity Conditions

2001 ◽  
Vol 692 ◽  
Author(s):  
Krishnan Balakrishnan ◽  
Yasuhiro Hayakawa ◽  
Hideki Komatsu ◽  
Noriaki Murakami ◽  
Tetsuo Nakamura ◽  
...  
Keyword(s):  
Crystal Growth ◽  
High Speed ◽  
Normal Gravity ◽  
Ccd Camera ◽  
Reduced Gravity ◽  
Gravity Condition ◽  
Crystallization Experiments ◽  
Melting And Crystallization ◽  
Normal Gravity Condition

AbstractMelting and crystallization experiments of InGaSb were done under the reduced gravity condition (10−2G) in an airplane and at the normal gravity condition (1G) in the laboratory. Crystallized InGaSb was found to contain many needle crystals in both the cases. Reduced gravity condition was found to be more conducive for crystal growth than the normal gravity condition. Formation of spherical projections on the surface of InGaSb during its crystallization was in-situ observed using a high speed CCD camera in the drop experiment. Spherical projections showed dependence of gravity during its growth. Indium compositions in the spherical projections were found to vary depending on the temperature.

scholarly journals The energetic costs of living in the surf and impacts on zonation of shells occupied by hermit crabs

2020 ◽  
Vol 223 (16) ◽  
pp. jeb222703 ◽  
Author(s):  
Guillermina Alcaraz ◽  
Brenda Toledo ◽  
Luis M. Burciaga
Keyword(s):  
Water Flow ◽  
Wave Action ◽  
Hermit Crabs ◽  
Energetic Cost ◽  
Shell Shape ◽  
Energetic Costs ◽  
Shell Size ◽  
Conical Shells ◽  
Drag Forces ◽  
Submerged Body

ABSTRACTCrashing waves create a hydrodynamic gradient in which the most challenging effects occur at the wave breaking zone and decrease towards the upper protected tide pools. Hydrodynamic forces depend on the shape of the submerged body; streamlined shapes decrease drag forces compared with bluff or globose bodies. Unlike other animals, hermit crabs can choose their shell shape to cope with the effects of water flow. Hermit crabs occupy larger and heavier shells (conical shape) in wave-exposed sites than those used in protected areas (globose shape). First, we investigated whether a behavioral choice could explain the shells used in sites with different wave action. Then, we experimentally tested whether the shells most frequently used in sites with different wave action reduce the energetic cost of coping with water flow. Metabolic rate was measured using a respirometric system fitted with propellers in opposite walls to generate bidirectional water flow. The choice of shell size when a large array of sizes are available was consistent with the shell size used in different intertidal sites; hermit crabs chose heavier conical shells in water flow conditions than in still water, and the use of heavy conical shells reduced the energetic cost of coping with water motion. In contrast to conical shells, small globose shells imposed lower energy costs of withstanding water flow than large globose shells. The size and type of shells used in different zones of the rocky shore were consistent with an adaptive response to reduce the energetic costs of withstanding wave action.

scholarly journals Estimation of leg stiffness using an approximation to the planar spring–mass system in high-speed running

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989071
Author(s):  
Wei Guo ◽  
Changrong Cai ◽  
Mantian Li ◽  
Fusheng Zha ◽  
Pengfei Wang ◽  
...  
Keyword(s):  
Analytical Solution ◽  
High Speed ◽  
Stance Phase ◽  
Center Of Mass ◽  
Critical Role ◽  
Line Center ◽  
Motion Model ◽  
Mass System ◽  
Leg Stiffness ◽  
Wide Range

Leg stiffness plays a critical role in legged robots’ speed regulation. However, the analytic solutions to the differential equations of the stance phase do not exist, of course not for the exact analytical solution of stiffness. In view of the challenge in dealing with every circumstance by numerical methods, which have been adopted to tabulate approximate answers, the “harmonic motion model” was used as approximation of the stance phase. However, the wide range leg sweep angles and small fluctuations of the “center of mass” in fast movement were overlooked. In this article, we raise a “triangle motion model” with uniform forward speed, symmetric movement, and straight-line center of mass trajectory. The characters are then shifted to a quadratic equation by Taylor expansion and obtain an approximate analytical solution. Both the numerical simulation and ADAMS-Matlab co-simulation of the control system show the accuracy of the triangle motion model method in predicting leg stiffness even in the ultra-high-speed case, and it is also adaptable to low-speed cases. The study illuminates the relationship between leg stiffness and speed, and the approximation model of the planar spring–mass system may serve as an analytical tool for leg stiffness estimation in high-speed locomotion.

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