A study on trunk stiffness and gait stability in quadrupedal locomotion using musculoskeletal robot

2011 ◽  
Author(s):  
Katsuyoshi Tsujita ◽  
Kenji Miki
Keyword(s):  
Gait Stability ◽  
Quadrupedal Locomotion ◽  
Musculoskeletal Robot

scholarly journals Gait Stability Measurement by Using Average Entropy

Entropy ◽  
2021 ◽  
Vol 23 (4) ◽  
pp. 412
Author(s):  
Han-Ping Huang ◽  
Chang Francis Hsu ◽  
Yi-Chih Mao ◽  
Long Hsu ◽  
Sien Chi
Keyword(s):  
Postural Stability ◽  
Multiscale Entropy ◽  
Gait Stability ◽  
Eyes Closed ◽  
Stride Interval ◽  
Step Interval ◽  
Stability Measurement ◽  
Eyes Open ◽  
Two Measures ◽  
Better Than

Gait stability has been measured by using many entropy-based methods. However, the relation between the entropy values and gait stability is worth further investigation. A research reported that average entropy (AE), a measure of disorder, could measure the static standing postural stability better than multiscale entropy and entropy of entropy (EoE), two measures of complexity. This study tested the validity of AE in gait stability measurement from the viewpoint of the disorder. For comparison, another five disorders, the EoE, and two traditional metrics methods were, respectively, used to measure the degrees of disorder and complexity of 10 step interval (SPI) and 79 stride interval (SI) time series, individually. As a result, every one of the 10 participants exhibited a relatively high AE value of the SPI when walking with eyes closed and a relatively low AE value when walking with eyes open. Most of the AE values of the SI of the 53 diseased subjects were greater than those of the 26 healthy subjects. A maximal overall accuracy of AE in differentiating the healthy from the diseased was 91.1%. Similar features also exists on those 5 disorder measurements but do not exist on the EoE values. Nevertheless, the EoE versus AE plot of the SI also exhibits an inverted U relation, consistent with the hypothesis for physiologic signals.

To What Extent Does Not Wearing Shoes Affect the Local Dynamic Stability of Walking?: Effect Size and Intrasession Repeatability

2014 ◽  
Vol 30 (2) ◽  
pp. 305-309 ◽  
Author(s):  
Philippe Terrier ◽  
Fabienne Reynard
Keyword(s):  
Dynamic Stability ◽  
Effect Size ◽  
Intraclass Correlation ◽  
Clinical Findings ◽  
Local Dynamic ◽  
Gait Stability ◽  
Local Dynamic Stability ◽  
Gait Parameters ◽  
Absolute Agreement ◽  
The Stability

Local dynamic stability (stability) quantifies how a system responds to small perturbations. Several experimental and clinical findings have highlighted the association between gait stability and fall risk. Walking without shoes is known to slightly modify gait parameters. Barefoot walking may cause unusual sensory feedback to individuals accustomed to shod walking, and this may affect stability. The objective was therefore to compare the stability of shod and barefoot walking in healthy individuals and to analyze the intrasession repeatability. Forty participants traversed a 70 m indoor corridor wearing normal shoes in one trial and walking barefoot in a second trial. Trunk accelerations were recorded with a 3D-accelerometer attached to the lower back. The stability was computed using the finite-time maximal Lyapunov exponent method. Absolute agreement between the forward and backward paths was estimated with the intraclass correlation coefficient (ICC). Barefoot walking did not significantly modify the stability as compared with shod walking (average standardized effect size: +0.11). The intrasession repeatability was high (ICC: 0.73–0.81) and slightly higher in barefoot walking condition (ICC: 0.81–0.87). Therefore, it seems that barefoot walking can be used to evaluate stability without introducing a bias as compared with shod walking, and with a sufficient reliability.

Center of Pressure Trajectory and Spatiotemporal Gait Parameters When Walking with Limited Knee Flexion

2021 ◽  
Vol 65 (1) ◽  
pp. 1490-1493
Author(s):  
Seobin Choi ◽  
Jieon Lee ◽  
Gwanseob Shin
Keyword(s):  
Knee Flexion ◽  
Stance Phase ◽  
Center Of Pressure ◽  
Dynamic Balance ◽  
Left Knee ◽  
Step Width ◽  
Normal Walking ◽  
Gait Stability ◽  
Gait Parameters ◽  
Stiff Knee

Stiff-knee, which indicates reduced range of knee flexion, may decrease gait stability. Although it is closely related to an increase in fall risk, the effect of limited knee flexion on the balance capacity during walking has not been well studied. This study aimed at examining how walking with limited knee flexion would influence the center of pressure (COP) trajectory and spatiotemporal gait parameters. Sixteen healthy young participants conducted four different walking conditions: normal walking and walking with limited knee flexion of their left knee up to 40 and 20 degrees, respectively. Results show that the participants walked significantly (p<0.05) slower with shorter stride length, wider step width, less cadence, and decreased stance phase when walking with limited knee flexion, compared to normal walking. The increase in the asymmetry and variability of the COP was also observed. It indicates that limited knee flexion during walking might affect the dynamic balance.

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