POSTURE CONTROL AND BALANCE DURING TAI CHI CHUAN PUSH HANDS MOVEMENTS IN A FIXED STANCE

2012 ◽  
Vol 12 (05) ◽  
pp. 1250030 ◽  
Author(s):  
LIN-HWA WANG ◽  
KUO-CHENG LO ◽  
FONG-CHIN SU
Keyword(s):  
Tai Chi ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Whole Body ◽  
Expert Group ◽  
Tai Chi Chuan ◽  
Kinematic Data ◽  
Analysis System ◽  
Force Data

The present study investigated the adequacy of the interaction between the center of mass (COM) and the center of pressure (COP) for maintaining dynamic stability during Tai Chi Chuan (TCC) Push Hands movements in a fixed stance. The COM of the whole body and COP were calculated. Four TCC experts, with 10.3 ± 1.7 years' experience in the Push Hands technique, and 4 TCC beginners, with 2.5 ± 1.3 years' Push Hands experience, were recruited. An Expert Vision Eagle motion analysis system collected kinematic data and 4 Kistler force plates collected the ground reaction force data. The expert group of TCC practitioners showed a significantly more vertical (P = 0.001) direction in the neutralizing circle, and significantly larger values for anterior–posterior (A–P) (P = 0.006) and vertical (P = 0.0004) displacement in the enticing circle, than the beginner group. Compared with the beginner group, the expert group demonstrated significantly greater velocity A–P (P = 0.001) and vertical (P = 0.001) COM displacements in the enticing circle. A significant extent main effect (P = 0.0028) was observed for the COPA–P excursion between the expert and beginner groups during Push Hands movements. The greater A–P force generated by both groups during the initiation of the Push Hands cycle probably reflects the more rapid and forward-oriented nature of this movement. The TCC beginners might have difficulties with movement transfers because of disruptions in the temporal sequencing of the forces. Overall, results indicated that the initial experience-related differences in COM transfers are reflected in the Push Hands movement cycle.

POSTURE AND GROUND REACTION FORCE RELATED INFLUENCES ON TAI CHI PUSHING MOVEMENT

2013 ◽  
Vol 13 (01) ◽  
pp. 1350007 ◽  
Author(s):  
LIN-HWA WANG ◽  
KUO-CHENG LO ◽  
FONG-CHIN SU
Keyword(s):  
Ground Reaction Force ◽  
Tai Chi ◽  
Reaction Force ◽  
Vertical Force ◽  
Tai Chi Chuan ◽  
Kinematic Data ◽  
Force Transfer ◽  
Significant Difference ◽  
Limb Kinematics ◽  
Analysis System

The goal of this study was to investigate the differences in ground reaction force during a Tai Chi Chuan (TCC) pushing movement between those with and without TCC experience through a detailed 3D dynamic analysis of the lower extremities. Seven TCC practitioners who had practiced the TCC push-hands movement for 6.0 ± 4.8 years and eight males without any TCC experience were recruited in this study. An eight-camera Expert Vision Eagle motion analysis system and two Kistler force plates were used to collect kinematic data (100 Hz) and the ground reaction force (1000 Hz). About 34 retro-reflective markers were placed on anatomical significant locations that determine embedded axes for segments. Results showed that the angular motions of the knee joint were different between the two groups, both in pattern and magnitude. Compared with the TCC group, the non-TCC group had significantly smaller peak abduction angles at the ankle joint (p < 0.05). The magnitude of the vertical force of the TCC group was greater, whereas the medial and posterior shear forces were smaller. The significant difference in vertical force (p < 0.05) and fraction opponent force of vertical force were found significantly different (p < 0.05) between the two groups. The patterns of the anteroposterior component of the ground reaction force during pushing were different, but those for the other two components were similar. Different lower-limb kinematics and kinetics were found between those with and those without TCC experience during TCC pushing movement and it was also found that the TCC practitioners could generate more effective force transfer than the group with no prior TCC experience. It was further concluded that vertical force plays an important role in a pushing movement, and posterior force exerted from the opponent was absorbed and transformed into anterior force to help the TCC practitioners remain stable.

scholarly journals Active foot placement control ensures stable gait: Effect of constraints on foot placement and ankle moments

PLoS ONE ◽  
2020 ◽  
Vol 15 (12) ◽  
pp. e0242215
Author(s):  
A. M. van Leeuwen ◽  
J. H. van Dieën ◽  
A. Daffertshofer ◽  
S. M. Bruijn
Keyword(s):  
Steady State ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Stride Frequency ◽  
Tight Control ◽  
Foot Placement ◽  
Ankle Moment ◽  
Reaction Forces ◽  
Moment Control

Step-by-step foot placement control, relative to the center of mass (CoM) kinematic state, is generally considered a dominant mechanism for maintenance of gait stability. By adequate (mediolateral) positioning of the center of pressure with respect to the CoM, the ground reaction force generates a moment that prevents falling. In healthy individuals, foot placement is complemented mainly by ankle moment control ensuring stability. To evaluate possible compensatory relationships between step-by-step foot placement and complementary ankle moments, we investigated the degree of (active) foot placement control during steady-state walking, and under either foot placement-, or ankle moment constraints. Thirty healthy participants walked on a treadmill, while full-body kinematics, ground reaction forces and EMG activities were recorded. As a replication of earlier findings, we first showed step-by-step foot placement is associated with preceding CoM state and hip ab-/adductor activity during steady-state walking. Tight control of foot placement appears to be important at normal walking speed because there was a limited change in the degree of foot placement control despite the presence of a foot placement constraint. At slow speed, the degree of foot placement control decreased substantially, suggesting that tight control of foot placement is less essential when walking slowly. Step-by-step foot placement control was not tightened to compensate for constrained ankle moments. Instead compensation was achieved through increases in step width and stride frequency.

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.

scholarly journals Effect of Leg Dominance on The Center-of-Mass Kinematics During an Inside-of-the-Foot Kick in Amateur Soccer Players

2014 ◽  
Vol 42 (1) ◽  
pp. 51-61 ◽  
Author(s):  
Matteo Zago ◽  
Andrea Francesco Motta ◽  
Andrea Mapelli ◽  
Isabella Annoni ◽  
Christel Galvani ◽  
...  
Keyword(s):  
Body Movement ◽  
Center Of Mass ◽  
Three Dimensional ◽  
The Body ◽  
Soccer Players ◽  
Upper Body ◽  
Whole Body ◽  
Movement Velocity ◽  
Ground Support ◽  
Analysis System

Abstract Soccer kicking kinematics has received wide interest in literature. However, while the instep-kick has been broadly studied, only few researchers investigated the inside-of-the-foot kick, which is one of the most frequently performed techniques during games. In particular, little knowledge is available about differences in kinematics when kicking with the preferred and non-preferred leg. A motion analysis system recorded the three-dimensional coordinates of reflective markers placed upon the body of nine amateur soccer players (23.0 ± 2.1 years, BMI 22.2 ± 2.6 kg/m2), who performed 30 pass-kicks each, 15 with the preferred and 15 with the non-preferred leg. We investigated skill kinematics while maintaining a perspective on the complete picture of movement, looking for laterality related differences. The main focus was laid on: anatomical angles, contribution of upper limbs in kick biomechanics, kinematics of the body Center of Mass (CoM), which describes the whole body movement and is related to balance and stability. When kicking with the preferred leg, CoM displacement during the ground-support phase was 13% higher (p<0.001), normalized CoM height was 1.3% lower (p<0.001) and CoM velocity 10% higher (p<0.01); foot and shank velocities were about 5% higher (p<0.01); arms were more abducted (p<0.01); shoulders were rotated more towards the target (p<0.01, 6° mean orientation difference). We concluded that differences in motor control between preferred and non-preferred leg kicks exist, particularly in the movement velocity and upper body kinematics. Coaches can use these results to provide effective instructions to players in the learning process, moving their focus on kicking speed and upper body behavior

Robust Bipedal Locomotion Based on a Hierarchical Control Structure

Robotica ◽  
2019 ◽  
Vol 37 (10) ◽  
pp. 1750-1767 ◽  
Author(s):  
Jianwen Luo ◽  
Yao Su ◽  
Lecheng Ruan ◽  
Ye Zhao ◽  
Donghyun Kim ◽  
...  
Keyword(s):  
Center Of Pressure ◽  
Center Of Mass ◽  
Hierarchical Control ◽  
Middle Level ◽  
Smooth Transition ◽  
Whole Body ◽  
Joint Torques ◽  
Low Level ◽  
Hybrid Controller ◽  
High Level

SummaryTo improve biped locomotion’s robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The planning procedure is simplified by selecting the midpoint between two consecutive Center of Pressure (CoP) points as the feature point. At the middle level, a novel robust hybrid controller is devised to drive perturbed system states back to the nominal trajectory within finite cycles without chattering. The novelty lies in that the hybrid controller is not subject to linear CoM dynamic constraints. The hybrid controller consists of two sub-controllers: an oscillation controller and a smoothing controller. For the oscillation controller, the desired CoM height is specified as a sine-shaped function, avoiding a new attractive limit cycle. However, this controller results in the inevitable chattering because of discontinuities. A smoothing controller provides continuous properties and thus can inhibit the chattering problem, but has a smaller region of attraction compared with the oscillation controller. A hybrid controller merges the two controllers for a smooth transition. At the low level, the desired CoM motion is defined as tasks and embedded in a whole body operational space (WBOS) controller to compute the joint torques analytically. The novelty of the low-level controller lies in that within the WBOS framework, CoM motion is not subject to fixed CoM dynamics and thus can be generalized.

scholarly journals Human kinematic, kinetic and EMG data during different walking and stair ascending and descending tasks

2019 ◽  
Vol 6 (1) ◽  
Author(s):  
Tiziana Lencioni ◽  
Ilaria Carpinella ◽  
Marco Rabuffetti ◽  
Alberto Marzegan ◽  
Maurizio Ferrarin
Keyword(s):  
Lower Limb ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Simulation Models ◽  
Human Locomotion ◽  
Surface Emg ◽  
Whole Body ◽  
Bipedal Robots ◽  
Lower Limb Muscles ◽  
Reaction Forces

AbstractThis paper reports the kinematic, kinetic and electromyographic (EMG) dataset of human locomotion during level walking at different velocities, toe- and heel-walking, stairs ascending and descending. A sample of 50 healthy subjects, with an age between 6 and 72 years, is included. For each task, both raw data and computed variables are reported including: the 3D coordinates of external markers, the joint angles of lower limb in the sagittal, transversal and horizontal anatomical planes, the ground reaction forces and torques, the center of pressure, the lower limb joint mechanical moments and power, the displacement of the whole body center of mass, and the surface EMG signals of the main lower limb muscles. The data reported in the present study, acquired from subjects with different ages, represents a valuable dataset useful for future studies on locomotor function in humans, particularly as normative reference to analyze pathological gait, to test the performance of simulation models of bipedal locomotion, and to develop control algorithms for bipedal robots or active lower limb exoskeletons for rehabilitation.

Whole body and segment center of mass determination from kinematic data

1980 ◽  
Vol 13 (8) ◽  
pp. 647-651 ◽  
Author(s):  
A. Dainis
Keyword(s):  
Center Of Mass ◽  
Whole Body ◽  
Mass Determination ◽  
Kinematic Data

EVALUATION OF A COMPUTER-SIMULATION MODEL FOR HUMAN AMBULATION ON STILTS

2004 ◽  
Vol 04 (03) ◽  
pp. 283-303 ◽  
Author(s):  
CHRISTOPHER S. PAN ◽  
KIMBERLY M. MILLER ◽  
SHARON CHIOU ◽  
JOHN Z. WU
Keyword(s):  
Computer Simulation ◽  
Ground Reaction Force ◽  
Center Of Mass ◽  
Reaction Force ◽  
Construction Workers ◽  
Whole Body ◽  
Vertical Ground Reaction Force ◽  
Actual Measurement ◽  
Increased Risk ◽  
Vertical Ground

Stilts are elevated tools that are frequently used by construction workers to raise workers 18 to 40 inches above the ground without the burden of erecting scaffolding or a ladder. Some previous studies indicated that construction workers perceive an increased risk of injury when working on stilts. However, no in-depth biomechanical analyses have been conducted to examine the fall risks associated with the use of stilts. The objective of this study is to evaluate a computer-simulation stilts model. Three construction workers were recruited for walking tasks on 24-inch stilts. The model was evaluated using whole body center of mass and ground reaction forces. A PEAK™ motion system and two Kistler™ force platforms were used to collect data on both kinetic and kinematic measures. Inverse- and direct-dynamics simulations were performed using a model developed using commercial software — ADAMS and LifeMOD. For three coordinates (X, Y, Z) of the center of mass, the results of univariate analyses indicated very small variability for the mean difference between the model predictions and the experimental measurements. The results of correlation analyses indicated similar trends for the three coordinates. Plotting the resultant and vertical ground reaction force for both right and left feet showed small discrepancies, but the overall shape was identical. The percentage differences between the model and the actual measurement for three coordinates of the center of mass, as well as resultant and vertical ground reaction force, were within 20%. This newly-developed stilt walking model may be used to assist in improving the design of stilts.

The Gait of Children With and Without Cerebral Palsy: Work, Energy, and Angular Momentum

2011 ◽  
Vol 27 (2) ◽  
pp. 99-107 ◽  
Author(s):  
Shawn Russell ◽  
Bradford Bennett ◽  
Pradip Sheth ◽  
Mark Abel
Keyword(s):  
Cerebral Palsy ◽  
Angular Momentum ◽  
Walking Speed ◽  
Center Of Mass ◽  
Whole Body ◽  
Mass Motion ◽  
Bipedal Locomotion ◽  
Kinematic Data ◽  
Internal Work ◽  
Body Energy

This paper describes a method to characterize gait pathologies like cerebral palsy using work, energy, and angular momentum. For a group of 24 children, 16 with spastic diplegic cerebral palsy and 8 typically developed, kinematic data were collected at the subjects self selected comfortable walking speed. From the kinematics, the work—internal, external, and whole body; energy—rotational and relative linear; and the angular momentum were calculated. Our findings suggest that internal work represents 53% and 40% respectively of the whole body work in gait for typically developed children and children with cerebral palsy. Analysis of the angular momentum of the whole body, and other subgroupings of body segments, revealed a relationship between increased angular momentum and increased internal work. This relationship allows one to use angular momentum to assist in determining the kinetics and kinematics of gait which contribute to increased internal work. Thus offering insight to interventions which can be applied to increase the efficiency of bipedal locomotion, by reducing internal work which has no direct contribution to center of mass motion, in both normal and pathologic populations.

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