A Low-Dimensional Sagittal-Plane Forward-Dynamic Model for Asymmetric Gait and Its Application to Study the Gait of Transtibial Prosthesis Users

2009 ◽  
Vol 131 (3) ◽  
Author(s):  
S. Srinivasan ◽  
E. R. Westervelt ◽  
A. H. Hansen
Keyword(s):  
Sagittal Plane ◽  
Joint Torque ◽  
Human Gait ◽  
Joint Power ◽  
Prosthetic Foot ◽  
Clinical Observations ◽  
Transtibial Prosthesis ◽  
Low Dimensional ◽  
Selection Of ◽  
Asymmetric Gait

This paper presents an extension of a recently developed low-dimensional modeling approach for normal human gait to the modeling of asymmetric gait. The asymmetric model is applied to analyze the gait dynamics of a transtibial prosthesis user, specifically the changes in joint torque and joint power costs that occur with variations in sagittal-plane alignment of the prosthesis, mass distribution of the prosthesis, and roll-over shape of the prosthetic foot being used. The model predicts an increase in cost with addition of mass and a more distal location of the mass, as well as the existence of an alignment at which the costs are minimized. The model’s predictions also suggest guidelines for the selection of prosthetic feet and suitable alignments. The results agree with clinical observations and results of other gait studies reported in the literature. The model can be a useful analytical tool for more informed design and selection of prosthetic components, and provides a basis for making the alignment process systematic.

Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches

2012 ◽  
Author(s):  
Justin Seipel
Keyword(s):  
Inverted Pendulum ◽  
Dynamic Models ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Human Model ◽  
Whole Body ◽  
Human Gait ◽  
Slip Model ◽  
Spring Loaded Inverted Pendulum ◽  
Low Dimensional

The objective of work presented in this paper is to increase the center-of-mass stability of human walking and running in musculo-skeletal simulation. The approach taken is to approximate the whole-body dynamics of the low-dimensional Spring-Loaded Inverted Pendulum (SLIP) model of locomotion in the OpenSim environment using existing OpenSim tools. To more directly relate low-dimensional dynamic models to human simulation, an existing OpenSim human model is first modified to more closely represent bilateral above-knee amputee locomotion with passive prostheses. To increase stability further beyond the energy-conserving SLIP model, an OpenSim model based upon the Clock-Torqued Spring-Loaded-Inverted-Pendulum (CT-SLIP) model of locomotion is also created. The result of this work is that a multi-body musculo-skeletal simulation in Open-Sim can approximate the whole-body sagittal-plane dynamics of the passive SLIP model. By adding a plugin controller to the OpenSim environment, the Clock-Torqued-SLIP dynamics can be approximated in OpenSim. To change between walking and running, only one parameter representing the preferred period of a stride is changed. The result is a robustly stable simulation of the center-of-mass locomotion for both walking and running that could serve as a first step toward increasingly anatomically accurate and robustly stable musculo-skeletal simulations.

Low-Dimensional Sagittal Plane Model of Normal Human Walking

2008 ◽  
Vol 130 (5) ◽  
Author(s):  
S. Srinivasan ◽  
I. A. Raptis ◽  
E. R. Westervelt
Keyword(s):  
Hybrid Model ◽  
Sagittal Plane ◽  
Human Walking ◽  
Human Gait ◽  
Dimensional Model ◽  
Double Support ◽  
Higher Dimensional ◽  
Heel Contact ◽  
Low Dimensional ◽  
The Impact

This paper applies a robotics-inspired approach to derive a low-dimensional forward-dynamic hybrid model of human walking in the sagittal plane. The low-dimensional model is derived as a subdynamic of a higher-dimensional anthropomorphic hybrid model. The hybrid model is composed of models for single support (SS) and double support (DS), with the transition from SS to DS modeled by a rigid impact to account for the impact at heel-contact. The transition from DS to SS occurs in a continuous manner. Existing gait data are used to specify, via parametrization, the low-dimensional model that is developed. The primary result is a one-degree-of-freedom model that is an exact subdynamic of the higher-dimensional anthropomorphic model and describes the dynamics of walking. The stability properties of the model are evaluated using the method of Poincaré. The low-dimensional model is validated using the measured human gait data. The validation demonstrates the observed stability of the measured gait.

scholarly journals A Review of Existing Transtibial Bionic Prosthesis: Mechanical Design, Actuators and Power Transmission

2022 ◽  
Vol 1 (2) ◽  
pp. 65-72
Author(s):  
Ade Reza Ismawan ◽  
Rifky Ismail ◽  
Tony Prahasto ◽  
Mochammad Ariyanto ◽  
Budi Setiyana
Keyword(s):  
Gait Cycle ◽  
Power Transmission ◽  
Mechanical Design ◽  
Body Part ◽  
Gait Pattern ◽  
Metabolic Energy ◽  
Human Gait ◽  
Transtibial Prosthesis ◽  
Selection Of

Transtibial and transfemoral amputations are the most common amputations in the world, loss of lower extremity result in impaired function extremities and also body balance. A prosthesis is a medical device designed to replace a specific body part to restore function to a body part lost due to an accident or disease. Most doctors strongly recommend the use of a prosthesis so that patients can return to normal activities after undergoing an amputation. Besides functioning to support beauty, the use of prostheses is also to restore the quality of life of prosthetic users, the issue of metabolic energy consumption when walking is also very important in designing transtibial bionic prosthesis because it involves the comfort of the user transtibial prosthesis. Most of the existing transtibial prosthesis products in Indonesia are conventional passive transtibial foot products, and passive prosthesis users show a limp or asymmetrical gait pattern so that conventional passive prosthesis users experience discomfort when walking in the form of pain in the amputated leg and normal foot, which can cause secondary musculoskeletal injuries such as joint disorders. Passive prostheses cannot generate propulsive force during push-off phase (terminal stance and preswing) of the human gait cycle. The use of passive prostheses can also consume 20-30% more metabolic energy while walking so that it can cause fatigue for the user. Transtibial bionic prosthesis research is growing, transtibial bionic prosthesis can overcome the weakness of passive prosthesis because it can produce push-off during gait cycle and several researchers have shown that bionic prostheses are capable of mimicking the human gait, as well as improve the  performance in a more natural gait and normal walking. This study aims to study the existing transtibial bionic prosthesis by comparing between 6 existing designs of powered ankle or transtibial bionic prosthesis that have been published in several publications. The discussion focuses on the design and mechanical systems, actuators related to the selection of motors and drive mechanisms as well as power transmission from actuators to moving components.

Significance of Nonsagittal Power Terms in Analysis of a Dynamic Elastic Response Prosthetic Foot

1999 ◽  
Vol 121 (5) ◽  
pp. 521-524 ◽  
Author(s):  
M. D. Geil ◽  
M. Parnianpour ◽  
N. Berme
Keyword(s):  
Ankle Joint ◽  
High Performance ◽  
Sagittal Plane ◽  
Transverse Plane ◽  
Elastic Response ◽  
Joint Power ◽  
Prosthetic Foot ◽  
Prosthetic Feet ◽  
Carbon Copy

Dynamic elastic response prosthetic feet generally utilize a solid ankle, limiting dominant motion to the sagittal plane. However, researchers often use total rotational ankle joint power in the analysis of these feet. This investigation measured joint power terms in each plane for the Carbon Copy High Performance prosthetic foot. The significance of the frontal and transverse plane terms was assessed. Addition of these terms to the dominant sagittal power term revealed only slight differences, indicating that the sagittal power term is likely sufficient.

scholarly journals Principled approach to the selection of the embedding dimension of networks

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Weiwei Gu ◽  
Aditya Tandon ◽  
Yong-Yeol Ahn ◽  
Filippo Radicchi
Keyword(s):  
Real World ◽  
Structural Information ◽  
General Purpose ◽  
Embedding Dimension ◽  
Network Embedding ◽  
Machine Learning Technique ◽  
Learning Technique ◽  
Low Dimensional ◽  
Large Corpus ◽  
Selection Of

AbstractNetwork embedding is a general-purpose machine learning technique that encodes network structure in vector spaces with tunable dimension. Choosing an appropriate embedding dimension – small enough to be efficient and large enough to be effective – is challenging but necessary to generate embeddings applicable to a multitude of tasks. Existing strategies for the selection of the embedding dimension rely on performance maximization in downstream tasks. Here, we propose a principled method such that all structural information of a network is parsimoniously encoded. The method is validated on various embedding algorithms and a large corpus of real-world networks. The embedding dimension selected by our method in real-world networks suggest that efficient encoding in low-dimensional spaces is usually possible.

Kinematic Coordination in Human Gait: Relation to Mechanical Energy Cost

1998 ◽  
Vol 79 (4) ◽  
pp. 2155-2170 ◽  
Author(s):  
L. Bianchi ◽  
D. Angelini ◽  
G. P. Orani ◽  
F. Lacquaniti
Keyword(s):  
Energy Expenditure ◽  
Energy Cost ◽  
Time Course ◽  
Sagittal Plane ◽  
Dimensional Space ◽  
Mechanical Energy ◽  
Direction Cosine ◽  
Lower Limbs ◽  
Human Gait ◽  
Plane Orientation

Bianchi, L., D. Angelini, G. P. Orani, and F. Lacquaniti. Kinematic coordination in human gait: relation to mechanical energy cost. J. Neurophysiol. 79: 2155–2170, 1998. Twenty-four subjects walked at different, freely chosen speeds ( V) ranging from 0.4 to 2.6 m s−1, while the motion and the ground reaction forces were recorded in three-dimensional space. We considered the time course of the changes of the angles of elevation of the trunk, pelvis, thigh, shank, and foot in the sagittal plane. These angles specify the orientation of each segment with respect to the vertical and to the direction of forward progression. The changes of the trunk and pelvis angles are of limited amplitude and reflect the dynamics of both right and left lower limbs. The changes of the thigh, shank, and foot elevation are ample, and they are coupled tightly among each other. When these angles are plotted one versus the others, they describe regular loops constrained on a plane. The plane of angular covariation rotates, slightly but systematically, along the long axis of the gait loop with increasing V. The rotation, quantified by the change of the direction cosine of the normal to the plane with the thigh axis ( u 3 t ), is related to a progressive phase shift between the foot elevation and the shank elevation with increasing V. As a next step in the analysis, we computed the mass-specific mean absolute power ( P u ) to obtain a global estimate of the rate at which mechanical work is performed during the gait cycle. When plotted on logarithmic coordinates, P u increases linearly with V. The slope of this relationship varies considerably across subjects, spanning a threefold range. We found that, at any given V > 1 m s−1, the value of the plane orientation ( u 3 t ) is correlated with the corresponding value of the net mechanical power ( P u ). On the average, the progressive rotation of the plane with increasing V is associated with a reduction of the increment of P u that would occur if u 3 t remained constant at the value characteristic of low V. The specific orientation of the plane at any given speed is not the same in all subjects, but there is an orderly shift of the plane orientation that correlates with the net power expended by each subject. In general, smaller values of u 3 t tend to be associated with smaller values of P u and vice versa. We conclude that the parametric tuning of the plane of angular covariation is a reliable predictor of the mechanical energy expenditure of each subject and could be used by the nervous system for limiting the overall energy expenditure.

Multi-Objective Optimization of Human Gait With a Discomfort Function

2016 ◽  
Author(s):  
Hyun-Jung Kwon ◽  
Hyun-Joon Chung ◽  
Yujiang Xiang
Keyword(s):  
Joint Torque ◽  
Upper Body ◽  
Whole Body ◽  
Human Gait ◽  
Multi Objective Optimization ◽  
Joint Angles ◽  
Backward Walking ◽  
Multi Objective ◽  
Body Model ◽  
Neutral Angle

The objective of this study was to develop a discomfort function for including a high DOF upper body model during walking. A multi-objective optimization (MOO) method was formulated by minimizing dynamic effort and the discomfort function simultaneously. The discomfort function is defined as the sum of the squares of deviation of joint angles from their neutral angle positions. The dynamic effort is the sum of the joint torque squared. To investigate the efficacy of the proposed MOO method, backward walking simulation was conducted. By minimizing both dynamic effort and the discomfort function, a 3D whole body model with a high DOF upper body for walking was demonstrated successfully.

scholarly journals Joint torque and velocity optimization for a redundant leg of quadruped robot

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141773189 ◽  
Author(s):  
Taihui Zhang ◽  
Honglei An ◽  
Hongxu Ma
Keyword(s):  
Angular Velocity ◽  
Sagittal Plane ◽  
Load Capacity ◽  
Optimization Criterion ◽  
Quadruped Robot ◽  
Joint Torque ◽  
Quadratic Program ◽  
Hydraulic Actuator ◽  
Joint Torques ◽  
Physical Limitations

Hydraulic actuated quadruped robot similar to BigDog has two primary performance requirements, load capacity and walking speed, so that it is necessary to balance joint torque and joint velocity when designing the dimension of single leg and controlling its motion. On the one hand, because there are three joints per leg on sagittal plane, it is necessary to firstly optimize the distribution of torque and angular velocity of every joint on the basis of their different requirements. On the other hand, because the performance of hydraulic actuator is limited, it is significant to keep the joint torque and angular velocity in actuator physical limitations. Therefore, it is essential to balance the joint torque and angular velocity which have negative correlation under the condition of constant power of the hydraulic actuator. The main purpose of this article is to optimize the distribution of joint torques and velocity of a redundant single leg with joint physical limitations. Firstly, a modified optimization criterion combining joint torques with angular velocity that takes both support phase and flight phase into account is proposed, and then the modified optimization criterion is converted into a normal quadratic programming problem. A kind of recurrent neural network is used to solve the quadratic program problem. This method avoids tremendous matrix inversion and fits for time-varying system. The achieved optimized distribution of joint torques and velocity is useful for aiding mechanical design and the following motion control. Simulation results presented in this article confirm the efficiency of this optimization algorithm.

Functional Data Analyses for the Assessment of Joint Power Profiles During Gait of Stroke Subjects

2014 ◽  
Vol 30 (2) ◽  
pp. 348-352 ◽  
Author(s):  
André G. P. Andrade ◽  
Janaine C. Polese ◽  
Leopoldo A. Paolucci ◽  
Hans-Joachim K. Menzel ◽  
Luci F. Teixeira-Salmela
Keyword(s):  
Power Generation ◽  
Gait Cycle ◽  
Sagittal Plane ◽  
Plantar Flexion ◽  
Knee Extension ◽  
Mathematical Function ◽  
Joint Power ◽  
Gait Biomechanics ◽  
Isolated Points ◽  
Parametric Analyses

Lower extremity kinetic data during walking of 12 people with chronic poststroke were reanalyzed, using functional analysis of variance (FANOVA). To perform the FANOVA, the whole curve is represented by a mathematical function, which spans the whole gait cycle and avoids the need to identify isolated points, as required for traditional parametric analyses of variance (ANOVA). The power variables at the ankle, knee, and hip joints, in the sagittal plane, were compared between two conditions: With and without walking sticks at comfortable and fast speeds. For the ankle joint, FANOVA demonstrated increases in plantar flexion power generation during 60–80% of the gait cycle between fast and comfortable speeds with the use of walking sticks. For the knee joint, the use of walking sticks resulted in increases in the knee extension power generation during 10–30% of the gait cycle. During both speeds, the use of walking sticks resulted in increased power generation by the hip extensors and flexors during 10–30% and 40–70% of the gait cycle, respectively. These findings demonstrated the benefits of applying the FANOVA approach to improve the knowledge regarding the effects of walking sticks on gait biomechanics and encourage its use within other clinical contexts.

Joint-Level Analyses of the Back Squat With and Without Intraset Rest

2019 ◽  
Vol 14 (5) ◽  
pp. 583-589 ◽  
Author(s):  
Jason D. Stone ◽  
Adam C. King ◽  
Shiho Goto ◽  
John D. Mata ◽  
Joseph Hannon ◽  
...  
Keyword(s):  
Sagittal Plane ◽  
Movement Pattern ◽  
Joint Angles ◽  
Mean Power ◽  
Joint Power ◽  
Joint Level ◽  
Back Squat ◽  
Squat Exercise ◽  
Limb Kinematics ◽  
Plane Joint

Purpose: To provide a joint-level analysis of traditional (TS) and cluster (CS) set structure during the back-squat exercise. Methods: Eight men (24 [3] y, 177.3 [7.9] cm, 82.7 [11.0] kg, 11.9 [3.5] % body fat, and 150.3 [23.0] kg 1-repetition maximum [1RM]) performed the back-squat exercise (80%1RM) using TS (4 × 6, 2-min interset rest) and CS (4 × [2 × 3], 30-s intraset rest, 90-s interset rest), randomly. Lower-limb kinematics were collected by motion capture, as well as kinetic data by bilateral force platforms. Results: CS attenuated the loss in mean power (TS −21.6% [3.9%]; CS −12.4% [7.5%]; P = .042), although no differences in gross movement pattern (sagittal-plane joint angles) within and between conditions were observed (P ≥ .05). However, joint power produced at the hip increased from repetition (REP) 1 through REP 6 during TS, while a decrease was noted at the knee. A similar pattern was observed in the CS condition but was limited to the hip. Joint power produced at the hip increased from REP 1 through REP 3 but returned to REP 1 values before a similar increase through REP 6, resulting in differences between conditions (REP 4, P = .018; REP 5, P = .022). Conclusions: Sagittal-plane joint angles did not change in either condition, although CS elicited greater power. Differing joint power contributions (hip and knee) suggest potential central mechanism that may contribute to enhanced power output during CS and warrant further study. Practitioners should consider incorporating CS into training to promote greater power adaptations and to mitigate fatigue.

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