Walking Balance Control for Humanoid Soccer Robot on Synthetic Grass

2020 ◽  
Author(s):  
Mochamad Ayuf Basthomi ◽  
Ali Husein Alasiry ◽  
Anhar Risnumawan ◽  
Ardik Wijayanto ◽  
Miftahul Anwar ◽  
...  
Keyword(s):  
Balance Control ◽  
Soccer Robot ◽  
Walking Balance

Truncated Fourier series formulation for bipedal walking balance control

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 81-96 ◽  
Author(s):  
Lin Yang ◽  
Chee-Meng Chew ◽  
Yu Zheng ◽  
Aun-Neow Poo
Keyword(s):  
Fourier Series ◽  
Control Method ◽  
Balance Control ◽  
Bipedal Walking ◽  
Reference Trajectory ◽  
Dynamic Feedback ◽  
Long Distance ◽  
Time Dynamic ◽  
Truncated Fourier Series ◽  
Walking Balance

SUMMARYThis paper studies the parameters contained in the truncated Fourier series (TFS) formulation for bipedal walking balance control. Using the TFS generated lateral motion reference, 3D bipedal walking can be directly achieved without any parameter adjustment. Furthermore, the potential of this TFS formulation for motion balance control has also been investigated. One more motion balance strategy is developed through the reinforcement learning, which adjusts the motion's reference trajectory according to the selected dynamic feedback in real time. Dynamic simulation results of the presented balance control method show that the resulting motion can be constrained periodical and long-distance 3D bipedal walking motions are achievable.

scholarly journals Similar sensorimotor transformations control balance during standing and walking

2021 ◽  
Vol 17 (6) ◽  
pp. e1008369
Author(s):  
Maarten Afschrift ◽  
Friedl De Groote ◽  
Ilse Jonkers
Keyword(s):  
Gait Cycle ◽  
Walking Speed ◽  
Balance Control ◽  
Center Of Mass ◽  
Linear Feedback ◽  
Sensorimotor Transformations ◽  
Robotic Devices ◽  
Walking Balance ◽  
Mass Position ◽  
Task Level

Standing and walking balance control in humans relies on the transformation of sensory information to motor commands that drive muscles. Here, we evaluated whether sensorimotor transformations underlying walking balance control can be described by task-level center of mass kinematics feedback similar to standing balance control. We found that delayed linear feedback of center of mass position and velocity, but not delayed linear feedback from ankle angles and angular velocities, can explain reactive ankle muscle activity and joint moments in response to perturbations of walking across protocols (discrete and continuous platform translations and discrete pelvis pushes). Feedback gains were modulated during the gait cycle and decreased with walking speed. Our results thus suggest that similar task-level variables, i.e. center of mass position and velocity, are controlled across standing and walking but that feedback gains are modulated during gait to accommodate changes in body configuration during the gait cycle and in stability with walking speed. These findings have important implications for modelling the neuromechanics of human balance control and for biomimetic control of wearable robotic devices. The feedback mechanisms we identified can be used to extend the current neuromechanical models that lack balance control mechanisms for the ankle joint. When using these models in the control of wearable robotic devices, we believe that this will facilitate shared control of balance between the user and the robotic device.

scholarly journals Use of the Challenge Point Framework to Guide Motor Learning of Stepping Reactions for Improved Balance Control in People With Stroke: A Case Series

2014 ◽  
Vol 94 (4) ◽  
pp. 562-570 ◽  
Author(s):  
Courtney L. Pollock ◽  
Lara A. Boyd ◽  
Michael A. Hunt ◽  
S. Jayne Garland
Keyword(s):  
Motor Learning ◽  
Balance Control ◽  
Case Series ◽  
Reaction Times ◽  
Chronic Stroke ◽  
Community Level ◽  
Level Walking ◽  
Learning Principles ◽  
Walking Balance ◽  
Low Amplitude

Background and PurposeStepping reactions are important for walking balance and community-level mobility. Stepping reactions of people with stroke are characterized by slow reaction times, poor coordination of motor responses, and low amplitude of movements, which may contribute to their decreased ability to recover their balance when challenged. An important aspect of rehabilitation of mobility after stroke is optimizing the motor learning associated with retraining effective stepping reactions. The Challenge Point Framework (CPF) is a model that can be used to promote motor learning through manipulation of conditions of practice to modify task difficulty, that is, the interaction of the skill of the learner and the difficulty of the task to be learned. This case series illustrates how the retraining of multidirectional stepping reactions may be informed by the CPF to improve balance function in people with stroke.Case DescriptionFour people (53–68 years of age) with chronic stroke (>1 year) and mild to moderate motor recovery received 4 weeks of multidirectional stepping reaction retraining. Important tenets of motor learning were optimized for each person during retraining in accordance with the CPF.OutcomesParticipants demonstrated improved community-level walking balance, as determined with the Community Balance and Mobility Scale. These improvements were evident 1 year later. Aspects of balance-related self-efficacy and movement kinematics also showed improvements during the course of the intervention.DiscussionThe application of CPF motor learning principles in the retraining of stepping reactions to improve community-level walking balance in people with chronic stroke appears to be promising. The CPF provides a plausible theoretical framework for the progression of functional task training in neurorehabilitation.

Comparing the effect of haptic modalities on walking balance control: Is using one or two arms better?

2019 ◽  
Vol 67 ◽  
pp. 102495
Author(s):  
Alison R. Oates ◽  
Abhishek Kumar ◽  
Wyatt Cowell ◽  
Aaron Awdhan ◽  
Regan Santoro ◽  
...  
Keyword(s):  
Balance Control ◽  
Walking Balance

scholarly journals Long-term training modifies the modular structure and organization of walking balance control

2015 ◽  
Vol 114 (6) ◽  
pp. 3359-3373 ◽  
Author(s):  
Andrew Sawers ◽  
Jessica L. Allen ◽  
Lena H. Ting
Keyword(s):  
Neural Control ◽  
Balance Control ◽  
Muscle Synergy ◽  
Muscle Coordination ◽  
Motor Behaviors ◽  
Motor Module ◽  
Biomechanical Constraints ◽  
And Function ◽  
Walking Balance

How does long-term training affect the neural control of movements? Here we tested the hypothesis that long-term training leading to skilled motor performance alters muscle coordination during challenging, as well as nominal everyday motor behaviors. Using motor module (a.k.a., muscle synergy) analyses, we identified differences in muscle coordination patterns between professionally trained ballet dancers (experts) and untrained novices that accompanied differences in walking balance proficiency assessed using a challenging beam-walking test. During beam walking, we found that experts recruited more motor modules than novices, suggesting an increase in motor repertoire size. Motor modules in experts had less muscle coactivity and were more consistent than in novices, reflecting greater efficiency in muscle output. Moreover, the pool of motor modules shared between beam and overground walking was larger in experts compared with novices, suggesting greater generalization of motor module function across multiple behaviors. These differences in motor output between experts and novices could not be explained by differences in kinematics, suggesting that they likely reflect differences in the neural control of movement following years of training rather than biomechanical constraints imposed by the activity or musculoskeletal structure and function. Our results suggest that to learn challenging new behaviors, we may take advantage of existing motor modules used for related behaviors and sculpt them to meet the demands of a new behavior.

scholarly journals The motor repertoire of older adult fallers may constrain their response to balance perturbations

2018 ◽  
Vol 120 (5) ◽  
pp. 2368-2378 ◽  
Author(s):  
Jessica L. Allen ◽  
Jason R. Franz
Keyword(s):  
Older Adults ◽  
Visual Perception ◽  
Older Adult ◽  
Balance Control ◽  
Lateral Instability ◽  
Increased Risk ◽  
Motor Module ◽  
Risk Of Falls ◽  
History Of ◽  
Walking Balance

Older adults are at a high risk of falls, and most falls occur during locomotor activities like walking. This study aimed to improve our understanding of changes in neuromuscular control associated with increased risk of falls in older adults in the presence of dynamic balance challenges during walking. Motor module (also known as muscle synergy) analyses identified changes in the neuromuscular recruitment of leg muscles during walking with and without perturbations designed to elicit the visual perception of lateral instability. During normal walking we found that a history of falls (but not age) was associated with reduced motor module complexity and that age (but not a history of falls) was associated with increased step-to-step variability of module recruitment timing. Furthermore, motor module complexity was unaltered in the presence of optical flow perturbations. The specific effects of a history of falls on leg muscle recruitment included an absence and/or inability to independently recruit motor modules normally recruited to perform biomechanical functions important for walking balance control. These results suggest that fallers do not recruit the appropriate motor modules necessary for well-coordinated walking balance control even in the presence of perturbations. The identified changes in the modular control of walking balance in older fallers may either represent a neural deficit that leads to poor balance control or a prior history of falls that results in a compensatory motor adaptation. In either case, our study provides initial evidence that a reduced motor repertoire in older adult fallers may be a constraint on their ability to appropriately respond to balance challenges during walking. NEW & NOTEWORTHY This is the first study to demonstrate a reduced motor repertoire during walking in older adults with a history of falls but without any overt neurological deficits. Furthermore, using virtual reality during walking to elicit the visual perception of lateral instability, we provide initial evidence that a reduced motor repertoire in older adult fallers may be a constraint on their ability to appropriately respond to balance challenges during walking.

scholarly journals Similar sensorimotor transformations control balance during standing and walking

2020 ◽  
Author(s):  
Maarten Afschrift ◽  
Friedl De Groote ◽  
Ilse Jonkers
Keyword(s):  
Gait Cycle ◽  
Walking Speed ◽  
Balance Control ◽  
Center Of Mass ◽  
Control Mechanisms ◽  
Sensorimotor Transformations ◽  
Robotic Devices ◽  
Walking Balance ◽  
Mass Position ◽  
Task Level

AbstractStanding and walking balance control in humans relies on the transformation of sensory information to motor commands that drive muscles. Here, we evaluated whether sensorimotor transformations underlying walking balance control can be described by task-level center of mass kinematics feedback similar to standing balance control. We found that delayed feedback of center of mass position and velocity, but not local feedback of joint positions and velocities, can explain reactive ankle muscle activity and joint moments in response to perturbations of walking across protocols (discrete and continuous platform translations and discrete pelvis pushes). Feedback gains were modulated during the gait cycle and decreased with walking speed. Our results thus suggest that similar task-level variables, i.e. center of mass position and velocity, are controlled across standing and walking but that feedback gains are modulated during gait to accommodate changes in body configuration during the gait cycle and in stability with walking speed. These findings have important implications for modelling the neuromechanics of human balance control and for biomimetic control of wearable robotic devices. The feedback mechanisms we identified can be used to extend the current neuromechanical models that lack balance control mechanisms for the ankle joint. When using these models in the control of wearable robotic devices, we believe that this will facilitate shared control of balance between the user and the robotic device.

A rehabilitation gait for the balance of human and lower extremity exoskeleton system based on the transfer of gravity center

2019 ◽  
Vol 46 (5) ◽  
pp. 608-621 ◽  
Author(s):  
Hansong Wang ◽  
Canjun Yang ◽  
Wei Yang ◽  
Meiying Deng ◽  
Zhangyi Ma ◽  
...  
Keyword(s):  
Lower Extremity ◽  
Real Time ◽  
Design Methodology ◽  
Balance Control ◽  
Frontal Plane ◽  
Gait Control ◽  
Gravity Center ◽  
Content Type ◽  
Lateral Tilt ◽  
Walking Balance

Purpose Most current lower extremity exoskeletons emphasize assistance for walking rather than stability. The purpose of this paper is to propose a rehabilitation gait based on the transfer of gravity center to improve the balance of exoskeleton rehabilitation training of the hemiplegic patients in the frontal plane, reducing the dependence on crutches/walking frames. Design/methodology/approach The real-time and predictable instability factors of human and exoskeleton system (HES) are analyzed. Inspired by the walking balance strategy of the blind, a rehabilitation gait based on the transfer of gravity center is proposed and studied by modeling and experimental test and is finally applied to the prototype – Zhejiang University lower extremity exoskeleton (ZJULEEX) – to verify its feasibility. Findings At least three real-time and predictable factors cause the instability of HES, and the factor of lateral tilt caused by gravity should be focused in the balance control of frontal plane. With the proposed gait, the hip height of stepping leg of HES does not reduce obviously even when the crutches do not work, which can improve the balance of HES. Research limitations/implications However, the rehabilitation gait control needs to be more complete and intelligent to response to other types of perturbations to further improve the balance of HES. In addition, more clinical trials should be conducted to evaluate the effect of the proposed gait. Social implications May bring happiness to the rehabilitation of patients with hemiplegia. Originality/value The rehabilitation gait based on the transfer of gravity center to improve the balance of HES is first proposed and applied to HES.

Noise-Induced Balance Loss? Rethinking Clinical Implications of Noise Exposure

2019 ◽  
Vol 4 (6) ◽  
pp. 1418-1422
Author(s):  
Bre Myers ◽  
J. Andrew Dundas
Keyword(s):  
Vestibular System ◽  
Noise Exposure ◽  
Balance Control ◽  
Scope Of Practice ◽  
Hearing Conservation ◽  
Exposed Population ◽  
Auditory Systems ◽  
Current Article ◽  
Balance Loss ◽  
Cross System

Purpose The primary aim of the current article is to provide a brief review of the literature regarding the effects of noise exposure on the vestibular and balance control systems. Although the deleterious effects of noise on the auditory system are widely known and continue to be an active area of research, much less is known regarding the effects of noise on the peripheral vestibular system. Audiologists with working knowledge of how both systems interact and overlap are better prepared to provide comprehensive care to more patients as assessment of both the auditory and vestibular systems has been in the audiologists' scope of practice since 1992. Method A narrative review summarizes salient findings from the archival literature. Results Temporary and permanent effects on vestibular system function have been documented in multiple studies. Hearing conservation, vestibular impairment, and fall risk reduction may be more intimately related than previously considered. Conclusions A full appreciation of both the vestibular and auditory systems is necessary to address the growing and aging noise-exposed population. More cross-system studies are needed to further define the complex relationship between the auditory and vestibular systems to improve comprehensive patient care.

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