Split-arm swinging: the effect of arm swinging manipulation on interlimb coordination during walking

This chapter presents the development of a lower limb orthosis based on the continuous dynamic behavior and on the events presented on the human locomotion, when the legs alternate between different functions. A computational model was developed to approach the different functioning models related to the bipedal anthropomorphic gait. Lagrange modeling was used for events modeling the non-holonomic dynamics of the system. This chapter combines the comparison of the use of the predictive control based on dynamical study and the decoupling of the dynamical model, with auxiliary parallelograms, for locating the center of mass of the mechanism using springs in order to achieve the balancing of each leg. Virtual model was implemented and its kinematic and dynamic motion analyzed through simulation of an exoskeleton, aimed at lower limbs, for training and rehabilitation of the human gait, in which the dynamic model of anthropomorphic mechanism and predictive control architecture with robust control is already developed.

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Modeling a Predictive Control of Human Locomotion Based on the Dynamic Behavior

Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement ◽

10.4018/978-1-7998-8050-9.ch011 ◽

2021 ◽

pp. 217-232

Author(s):

Joao Mauricio Rosario ◽

Leonimer Flavio de Melo ◽

Didier Dumur ◽

Maria Makarov ◽

Jessica Fernanda Pereira Zamaia ◽

...

Keyword(s):

Dynamic Behavior ◽

Predictive Control ◽

Lower Limb ◽

Center Of Mass ◽

Human Locomotion ◽

Lower Limbs ◽

Human Gait ◽

Virtual Model ◽

Dynamical Study ◽

Continuous Dynamic

This chapter presents the development of a lower limb orthosis based on the continuous dynamic behavior and on the events presented on the human locomotion, when the legs alternate between different functions. A computational model was developed to approach the different functioning models related to the bipedal anthropomorphic gait. Lagrange modeling was used for events modeling the non-holonomic dynamics of the system. This chapter combines the comparison of the use of the predictive control based on dynamical study and the decoupling of the dynamical model, with auxiliary parallelograms, for locating the center of mass of the mechanism using springs in order to achieve the balancing of each leg. Virtual model was implemented and its kinematic and dynamic motion analyzed through simulation of an exoskeleton, aimed at lower limbs, for training and rehabilitation of the human gait, in which the dynamic model of anthropomorphic mechanism and predictive control architecture with robust control is already developed.

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Lower-limb kinematics and kinetics during continuously varying human locomotion

Scientific Data ◽

10.1038/s41597-021-01057-9 ◽

2021 ◽

Vol 8 (1) ◽

Author(s):

Emma Reznick ◽

Kyle R. Embry ◽

Ross Neuman ◽

Edgar Bolívar-Nieto ◽

Nicholas P. Fey ◽

...

Keyword(s):

Lower Limb ◽

Human Locomotion ◽

Lower Limbs ◽

Stair Climbing ◽

Constant Acceleration ◽

Stair Ascent ◽

Limb Kinematics ◽

Kinetics Of ◽

Lower Limb Kinematics ◽

Kinematics And Kinetics

AbstractHuman locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and kinetics of the lower limbs during continuously varying locomotion is fundamental to developing robotic prostheses and exoskeletons that assist in community ambulation. However, available datasets on human locomotion neglect transitions between activities and/or continuous variations in speed and inclination during these activities. This data paper reports a new dataset that includes the lower-limb kinematics and kinetics of ten able-bodied participants walking at multiple inclines (±0°; 5° and 10°) and speeds (0.8 m/s; 1 m/s; 1.2 m/s), running at multiple speeds (1.8 m/s; 2 m/s; 2.2 m/s and 2.4 m/s), walking and running with constant acceleration (±0.2; 0.5), and stair ascent/descent with multiple stair inclines (20°; 25°; 30° and 35°). This dataset also includes sit-stand transitions, walk-run transitions, and walk-stairs transitions. Data were recorded by a Vicon motion capture system and, for applicable tasks, a Bertec instrumented treadmill.

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Inter-Limb Coordination Variability in Ice Climbers of Different Skill Level

Baltic Journal of Sport and Health Sciences ◽

10.33607/bjshs.v1i80.342 ◽

2018 ◽

Vol 1 (80) ◽

Author(s):

Ludovic Seifert ◽

Leo Wattebled ◽

Maxime L’Hermette ◽

Romain Herault

Keyword(s):

Lower Limb ◽

Skill Level ◽

Lower Limbs ◽

Upper Limbs ◽

Environmental Constraint ◽

Research Results ◽

Grade 5 ◽

Limb Coordination ◽

Left And Right ◽

Mode Of Coordination

Research background and hypothesis. Ice climbers determine their own ascent paths by creating holes with their crampons and ice tools. The coupling of upper and lower limbs thus emerges from the icefall environment without prescriptions for one mode of coordination. Research aim. The aim of this study was to analyse the upper / lower limb coordination of ice climbers of different skill level and to explore how the environmental constraint (ice fall shape) is used by the climbers to adapt their motor behaviour.Research methods. Six elite ice climbers and ﬁ ve beginners climbed a 30m icefall, respectively in grade 5 / 5+ and grade 4. Frontal camera videotaped the ﬁ rst 15m of the ascent, then the left and right ice tools and the left and right crampons were digitalised in order to analyse the upper limbs coupling, the lower limbs coupling and the upper / lower limb coordination. Research results. The results indicated that in-phase mode of upper / lower limb coordination was the main attractor for both groups. However, elite climbers showed greater variability in their behaviour, exploring larger range of upper and lower angles (particularly vertical and crossed positions) and types of movement (ice tool swinging and ice hole hooking). Discussion and conclusions. It was concluded that holes in ice fall, and more globally ice fall shape, were affordances that induced variable upper / lower limb coordination in elite climbers, whereas beginners used a basic and stable motor organization in order to maintain body equilibrium.Keywords: upper / lower limb coordination, environmental constrains, types of movement.

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Acute and Delayed Effects of Fatigue on Ground Reaction Force, Lower Limb Stiffness and Coordination Asymmetries During a Landing Task

Journal of Human Kinetics ◽

10.2478/hukin-2021-0054 ◽

2021 ◽

Vol 76 (1) ◽

pp. 191-199

Author(s):

Débora Aparecida Knihs ◽

Haiko Bruno Zimmermann ◽

Juliano Dal Pupo

Keyword(s):

Ground Reaction Force ◽

Lower Limb ◽

Reaction Force ◽

Lower Limbs ◽

Size Analysis ◽

Delayed Effects ◽

Fatigue Protocol ◽

Leg Stiffness ◽

Limb Coordination ◽

The Asymmetry

Abstract Landing is a critical phase of movement for injury occurrence, in which lower limbs should be used equally to better absorb the shock. However, it has been suggested that fatigue can lead to the appearance of asymmetries. The aim of this study was to verify the acute and delayed effects of fatigue on the lower limb asymmetry indexes of peak ground reaction force, leg stiffness and intra-limb coordination during a landing task. Fifteen physically active men performed a fatigue protocol composed of 14 sets of 10 continuous vertical jumps, with a one-minute rest interval between the sets. A step-off landing task was performed before, immediately after, 24 h and 48 h after the fatigue protocol. Two force plates and a video analysis system were used. The symmetry index equation provided the asymmetry indexes. For statistical analysis, ANOVA and effect size analysis were utilized. Inferential statistics did not show the effect of fatigue in the asymmetry indexes for any variable or condition (p > .05). Moderate effect sizes were observed for peak ground reaction force (0.61) and leg stiffness (0.61) immediately after the application of the protocol. In conclusion, fatigue does not seem to significantly change the asymmetries of lower limbs, especially regarding intra-limb coordination. The moderate effects observed for peak ground reaction force and leg stiffness asymmetries suggest that these variables may be acutely affected by fatigue.

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Design of Passive Lower Limb Exoskeleton to Aid in Injury Mitigation and Muscular Efficiency

Volume 6: 25th Design for Manufacturing and the Life Cycle Conference (DFMLC) ◽

10.1115/detc2020-22694 ◽

2020 ◽

Author(s):

Dylan Tracey ◽

Hao Zhang

Keyword(s):

Lower Limb ◽

Stride Length ◽

Human Locomotion ◽

Running Economy ◽

Lower Limbs ◽

Stride Frequency ◽

Load Variations ◽

Lower Limb Exoskeleton ◽

Viable Solution ◽

The Impact

Abstract With the duties and responsibilities of the military, they are on the cutting edge of R&D and the latest and greatest technologies. One significant problem effecting thousands of soldiers are injuries to the lower limbs, specifically the knees, as a result of high impact to the joints and muscles. Through the research of biomechanics and ergonomics during human locomotion of running, cause and effects fatigue, muscular activation during running, gait cycle force analysis, and biomimicry of kangaroos, we were able to identify lower limb exoskeletons as a viable solution to the problem. The purpose of this research was to develop a relatively inexpensive prototype of a passive lower limb exoskeleton to aid in injury mitigation and muscular efficiency for soldiers. The hypothesis was that a lower limb exoskeleton would reduce/mitigate injuries by reducing stride length and increases stride frequency to lower impact on the knees while running. The prototype was tested by one participant on a 2-mile course with two load variations tested while running. The key results were seen from the spring systems potential to increase average stride cadence/frequency by 6–14% and reduce impact on joints and muscles by increasing the number of steps and reducing high center of gravity oscillation by 13–27%. Furthermore, this study provides evidence and research that proves that a passive lower limb exoskeleton design, which increases stride frequency and reduces stride length, can mitigate injuries to the lower limbs when running with weight by reducing the impact forces on the knees and improving running economy.

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Interlimb Coordination During a Combined Gait and Prehension Task

Motor Control ◽

10.1123/mc.2018-0053 ◽

2020 ◽

Vol 24 (1) ◽

pp. 57-74

Author(s):

Grace C. Bellinger ◽

Kristen A. Pickett ◽

Andrea H. Mason

Keyword(s):

Young Adults ◽

Lower Limb ◽

Interlimb Coordination ◽

Control Mechanisms ◽

Reach To Grasp ◽

Double Support ◽

Reaching Task ◽

Strong Trend ◽

Contradictory Evidence ◽

Coordination Patterns

Reaching and grasping are often completed while walking, yet the interlimb coordination required for such a combined task is not fully understood. Previous studies have produced contradictory evidence regarding preference for support of the lower limb ipsilateral or contralateral to the upper limb when performing a reaching task. This coordinative aspect of the combined task provides insight into whether the two tasks are mutually modified or if the reach is superimposed upon normal arm swinging. Collectively, 18 right-handed young adults walked slower, took shorter steps, and spent more time in double support during the combined task compared with walking alone. The peak grasp aperture was larger in walking reach-to-grasp trials compared with standing trials. There was not a strong trend for lower limb support preferences at the reach initiation or object contact. The participants could begin walking with either foot and demonstrated variability of preferred gait initiation patterns. There was a range of interlimb coordination patterns, none of which could be generalized to all young adults. The variability with which healthy right-handed young adults execute a combined walking reach-to-grasp task suggests that the cyclical (walking) and discrete (prehension) motor tasks may have separate motor control mechanisms, as proposed in the two primitives theory.

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Design of a Human Knee Reeducation Mechanism

Acta Universitatis Sapientiae Electrical and Mechanical Engineering ◽

10.2478/auseme-2019-0004 ◽

2019 ◽

Vol 11 (1) ◽

pp. 42-53

Author(s):

Allaoua Brahmia ◽

Ridha Kelaiaia

Keyword(s):

Lower Limb ◽

Mechanical Design ◽

Kinematic Chain ◽

Lower Limbs ◽

Kinematic Structure ◽

Robotic Device ◽

Human Knee ◽

Kinematic Study ◽

Rehabilitation Exercise ◽

New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

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Effects of Dominant and Nondominant Limb Immobilization on Muscle Activation and Physical Demand during Ambulation with Axillary Crutches

Journal of Functional Morphology and Kinesiology ◽

10.3390/jfmk6010016 ◽

2021 ◽

Vol 6 (1) ◽

pp. 16

Author(s):

Kara B. Bellenfant ◽

Gracie L. Robbins ◽

Rebecca R. Rogers ◽

Thomas J. Kopec ◽

Christopher G. Ballmann

Keyword(s):

Lower Limb ◽

Muscle Activation ◽

Weight Bearing ◽

Lower Limbs ◽

Medial Gastrocnemius ◽

Bipedal Walking ◽

Lower Limb Muscle ◽

Limb Muscle ◽

Physical Demand ◽

Limb Dominance

The purpose of this study was to investigate the effects of how limb dominance and joint immobilization alter markers of physical demand and muscle activation during ambulation with axillary crutches. In a crossover, counterbalanced study design, physically active females completed ambulation trials with three conditions: (1) bipedal walking (BW), (2) axillary crutch ambulation with their dominant limb (DOM), and (3) axillary crutch ambulation with their nondominant limb (NDOM). During the axillary crutch ambulation conditions, the non-weight-bearing knee joint was immobilized at a 30-degree flexion angle with a postoperative knee stabilizer. For each trial/condition, participants ambulated at 0.6, 0.8, and 1.0 mph for five minutes at each speed. Heart rate (HR) and rate of perceived exertion (RPE) were monitored throughout. Surface electromyography (sEMG) was used to record muscle activation of the medial gastrocnemius (MG), soleus (SOL), and tibialis anterior (TA) unilaterally on the weight-bearing limb. Biceps brachii (BB) and triceps brachii (TB) sEMG were measured bilaterally. sEMG signals for each immobilization condition were normalized to corresponding values for BW.HR (p < 0.001) and RPE (p < 0.001) were significantly higher for both the DOM and NDOM conditions compared to BW but no differences existed between the DOM and NDOM conditions (p > 0.05). No differences in lower limb muscle activation were noted for any muscles between the DOM and NDOM conditions (p > 0.05). Regardless of condition, BB activation ipsilateral to the ambulating limb was significantly lower during 0.6 mph (p = 0.005) and 0.8 mph (p = 0.016) compared to the same speeds for BB on the contralateral side. Contralateral TB activation was significantly higher during 0.6 mph compared to 0.8 mph (p = 0.009) and 1.0 mph (p = 0.029) irrespective of condition. In conclusion, limb dominance appears to not alter lower limb muscle activation and walking intensity while using axillary crutches. However, upper limb muscle activation was asymmetrical during axillary crutch use and largely dependent on speed. These results suggest that functional asymmetry may exist in upper limbs but not lower limbs during assistive device supported ambulation.

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