scholarly journals Measuring Spatiotemporal Parameters on Treadmill Walking Using Wearable Inertial System

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4441
Author(s):  
Sofia Scataglini ◽  
Stijn Verwulgen ◽  
Eddy Roosens ◽  
Robby Haelterman ◽  
Damien Van Tiggelen
Keyword(s):  
Stance Phase ◽  
Gait Cycle ◽  
Step Length ◽  
Heel Strike ◽  
Inverted Pendulum Model ◽  
Gait Parameters ◽  
Pendulum Model ◽  
Spatiotemporal Parameters ◽  
Absolute Agreement ◽  
And Performance

This study aims to measure and compare spatiotemporal gait parameters in nineteen subjects using a full wearable inertial mocap system Xsens (MVN Awinda, Netherlands) and a photoelectronic system one-meter OptoGaitTM (Microgait, Italy) on a treadmill imposing a walking speed of 5 km/h. A total of eleven steps were considered for each subject constituting a dataset of 209 samples from which spatiotemporal parameters (SPT) were calculated. The step length measurement was determined using two methods. The first one considers the calculation of step length based on the inverted pendulum model, while the second considers an anthropometric approach that correlates the stature with an anthropometric coefficient. Although the absolute agreement and consistency were found for the calculation of the stance phase, cadence and gait cycle, from our study, differences in SPT were found between the two systems. Mean square error (MSE) calculation of their speed (m/s) with respect to the imposed speed on a treadmill reveals a smaller error (MSE = 0.0008) using the OptoGaitTM. Overall, our results indicate that the accurate detection of heel strike and toe-off have an influence on phases and sub-phases for the entire acquisition. Future study in this domain should investigate how to design and integrate better products and algorithms aiming to solve the problematic issues already identified in this study without limiting the user’s need and performance in a different environment.

Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control

2016 ◽  
Vol 13 (02) ◽  
pp. 1550041 ◽  
Author(s):  
Juan Alejandro Castano ◽  
Zhibin Li ◽  
Chengxu Zhou ◽  
Nikos Tsagarakis ◽  
Darwin Caldwell
Keyword(s):  
Center Of Mass ◽  
Humanoid Robots ◽  
Gait Pattern ◽  
Gait Patterns ◽  
Foot Placement ◽  
Inverted Pendulum Model ◽  
Gait Parameters ◽  
Pendulum Model ◽  
Single Mass ◽  
Walking Velocity

This paper presents a novel online walking control that replans the gait pattern based on our proposed foot placement control using the actual center of mass (COM) state feedback. The analytic solution of foot placement is formulated based on the linear inverted pendulum model (LIPM) to recover the walking velocity and to reject external disturbances. The foot placement control predicts where and when to place the foothold in order to modulate the gait given the desired gait parameters. The zero moment point (ZMP) references and foot trajectories are replanned online according to the updated foothold prediction. Hence, only desired gait parameters are required instead of predefined or fixed gait patterns. Given the new ZMP references, the extended prediction self-adaptive control (EPSAC) approach to model predictive control (MPC) is used to minimize the ZMP response errors considering the acceleration constraints. Furthermore, to ensure smooth gait transitions, the conditions for the gait initiation and termination are also presented. The effectiveness of the presented gait control is validated by extensive disturbance rejection studies ranging from single mass simulation to a full body humanoid robot COMAN in a physics based simulator. The versatility is demonstrated by the control of reactive gaits as well as reactive stepping from standing posture. We present the data of the applied disturbances, the prediction of sagittal/lateral foot placements, the replanning of the foot/ZMP trajectories, and the COM responses.

scholarly journals Effects of selectively assisting impaired subtasks of walking in chronic stroke survivors

2020 ◽  
Vol 17 (1) ◽  
Author(s):  
Simone S. Fricke ◽  
Hilde J. G. Smits ◽  
Cristina Bayón ◽  
Jaap H. Buurke ◽  
Herman van der Kooij ◽  
...  
Keyword(s):  
Knee Flexion ◽  
Step Length ◽  
Gait Training ◽  
Chronic Stroke ◽  
Stroke Survivors ◽  
Baseline Trial ◽  
Gait Parameters ◽  
Flexion Extension ◽  
Spatiotemporal Parameters ◽  
Length Width

Abstract Background Recently developed controllers for robot-assisted gait training allow for the adjustment of assistance for specific subtasks (i.e. specific joints and intervals of the gait cycle that are related to common impairments after stroke). However, not much is known about possible interactions between subtasks and a better understanding of this can help to optimize (manual or automatic) assistance tuning in the future. In this study, we assessed the effect of separately assisting three commonly impaired subtasks after stroke: foot clearance (FC, knee flexion/extension during swing), stability during stance (SS, knee flexion/extension during stance) and weight shift (WS, lateral pelvis movement). For each of the assisted subtasks, we determined the influence on the performance of the respective subtask, and possible effects on other subtasks of walking and spatiotemporal gait parameters. Methods The robotic assistance for the FC, SS and WS subtasks was assessed in nine mildly impaired chronic stroke survivors while walking in the LOPES II gait trainer. Seven trials were performed for each participant in a randomized order: six trials in which either 20% or 80% of assistance was provided for each of the selected subtasks, and one baseline trial where the participant did not receive subtask-specific assistance. The influence of the assistance on performances (errors compared to reference trajectories) for the assisted subtasks and other subtasks of walking as well as spatiotemporal parameters (step length, width and height, swing and stance time) was analyzed. Results Performances for the impaired subtasks (FC, SS and WS) improved significantly when assistance was applied for the respective subtask. Although WS performance improved when assisting this subtask, participants were not shifting their weight well towards the paretic leg. On a group level, not many effects on other subtasks and spatiotemporal parameters were found. Still, performance for the leading limb angle subtask improved significantly resulting in a larger step length when applying FC assistance. Conclusion FC and SS assistance leads to clear improvements in performance for the respective subtask, while our WS assistance needs further improvement. As effects of the assistance were mainly confined to the assisted subtasks, tuning of FC, SS and WS can be done simultaneously. Our findings suggest that there may be no need for specific, time-intensive tuning protocols (e.g. tuning subtasks after each other) in mildly impaired stroke survivors.

scholarly journals Dynamic Principles of Gait and Their Clinical Implications

2010 ◽  
Vol 90 (2) ◽  
pp. 157-174 ◽  
Author(s):  
Arthur D. Kuo ◽  
J. Maxwell Donelan
Keyword(s):  
Gait Pattern ◽  
Heel Strike ◽  
Dynamic Walking ◽  
Basic Principles ◽  
Passive Stability ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
The Central Nervous System ◽  
Biomechanical Features

A healthy gait pattern depends on an array of biomechanical features, orchestrated by the central nervous system for economy and stability. Injuries and other pathologies can alter these features and result in substantial gait deficits, often with detrimental consequences for energy expenditure and balance. An understanding of the role of biomechanics in the generation of healthy gait, therefore, can provide insight into these deficits. This article examines the basic principles of gait from the standpoint of dynamic walking, an approach that combines an inverted pendulum model of the stance leg with a pendulum model of the swing leg and its impact with the ground. The heel-strike at the end of each step has dynamic effects that can contribute to a periodic gait and its passive stability. Biomechanics, therefore, can account for much of the gait pattern, with additional motor inputs that are important for improving economy and stability. The dynamic walking approach can predict the consequences of disruptions to normal biomechanics, and the associated observations can help explain some aspects of impaired gait. This article reviews the basic principles of dynamic walking and the associated experimental evidence for healthy gait and then considers how the principles may be applied to clinical gait pathologies.

scholarly journals Comparison Between Spatiotemporal Parameters and Vertical Ground Reaction Force in Ankle Sprain Coper and Healthy Athletes: A Cross Sectional Study

2021 ◽  
pp. 111-120
Author(s):  
Zaha Raeisi ◽  
Keyword(s):  
Ankle Sprain ◽  
Stance Phase ◽  
Gait Cycle ◽  
Reaction Force ◽  
Cross Sectional Study ◽  
Sectional Study ◽  
Vertical Ground Reaction Force ◽  
Cross Sectional ◽  
Spatiotemporal Parameters ◽  
Vertical Ground

Purpose: It is essential to maintain dynamic stability during walking to perform daily tasks independently. The present study aimed at comparing the spatiotemporal parameters and the values of the vertical Ground Reaction Force (vGRF) as well as determining the time to reach them in ankle-sprain coper and healthy athletes during the stance phase of gait. Methods: A total of 28 female university athletes were recruited in this cross-sectional study and assigned into two groups: ankle-sprain coper (n=14) and healthy control (n=14). The gait cycle analysis was then performed on a 10-m path, and the information related to the stance phase was recorded by a foot scanning device. The spatiotemporal parameters (gait line and contact time) and the values of the vGRF along with the time to reach them were subsequently obtained from each test. The repeated measures Analysis of Variance (ANOVA) was additionally used to analyze the data (P≤0.05). Results: The study results revealed no differences between the injured and the healthy feet in the ankle-sprain coper group in any of the variables (P>0.05). As well, the spatiotemporal gait cycle parameters between the ankle-sprain coper group and the healthy controls were not significantly different (P>0.05). However, significant differences were observed between the ankle-sprain coper and healthy controls in terms of the variables of the vGRF in the mid-stance (F=5.25, P=0.03) and the time to reach the second peak of the vGRF (F=9.13, P=0.006). Conclusion: The spatiotemporal gait parameters were not significantly different between the ankle-sprain coper and the control groups, but the vGRF in the ankle-sprain coper was greater than that in the control group. With regard to the correlation between the reduction in the vGRF and the secondary injury, it is recommended to pay much attention to this point in rehabilitation programs following the first injury in female athletes.

scholarly journals Improved method of step length estimation based on inverted pendulum model

2017 ◽  
Vol 13 (4) ◽  
pp. 155014771770291 ◽  
Author(s):  
Qi Zhao ◽  
Boxue Zhang ◽  
Jingjing Wang ◽  
Wenquan Feng ◽  
Wenyan Jia ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Step Length ◽  
Improved Method ◽  
Inverted Pendulum Model ◽  
Length Estimation ◽  
Pendulum Model

Design and Analysis of a Non-Vision-Based System for Detecting Unstable Gait

2013 ◽  
Vol 300-301 ◽  
pp. 561-565
Author(s):  
Chin Hsing Chen ◽  
Yao Ming Yu ◽  
Sun Yen Tan ◽  
Hung Li Tseng ◽  
Wen Tzeng Huang
Keyword(s):  
Gait Cycle ◽  
Pressure Sensors ◽  
Step Length ◽  
Swing Phase ◽  
Wireless Sensor ◽  
Measuring Device ◽  
Decision Points ◽  
Gait Parameters ◽  
Length Step ◽  
Unstable Gait

An unstable gait provides early warning of more serious conditions. In this study, we propose the use of pressure sensors embedded into a shoe pad along with a 3D accelerometer fastened to the knee. We have implemented a portable gait-measuring device integrated with a ZigBee wireless sensor network. Moreover, the step length, step speed, and step distance are easily calculated in the user interface. These data can then be used to distinguish the seven decision points of a complete gait cycle. Analysis of the gait cycle is done using fuzzy logic. The detected gait phases can be compared with standard gait parameters from the literature. Thus, the analyzed gait parameters can provide early detection of the emergence of an unstable gait. Finally, because our system measures knee flexion angle, it can detect the swing phase of the gait cycle.

scholarly journals Effects of Postoperative Rehabilitation on Gait Parameters and Electromyography Variables in Acute and Chronic Anterior Cruciate Ligament Reconstruction Surgery in Football Players

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Gopal Nambi ◽  
Walid Kamal Abdelbasset ◽  
Anju Verma ◽  
Shereen H. Elsayed ◽  
Osama R. Aldhafian ◽  
...  
Keyword(s):  
Stance Phase ◽  
Gait Cycle ◽  
Vastus Lateralis ◽  
Cruciate Ligament ◽  
Test Group ◽  
Control Group ◽  
Football Players ◽  
Postoperative Rehabilitation ◽  
Double Support ◽  
Gait Parameters

Background and Objective. To date, there were no clinically proven and evident ACLR rehabilitation protocols developed exclusively for football players, also no comparative studies were conducted on kinematic, kinetic, and EMG parameters on postoperative rehabilitation protocol in acute and chronic ACLR. The objective of this study was to find and compare the kinematic, kinetic, and EMG effects of postoperative rehabilitation after acute and chronic ACLR surgeries in football players. Design and Setting. Using the convenience sampling method, eligible subjects were divided into three groups. The test group consisted of acute (n = 15) and chronic (n = 15) ACL injured subjects who underwent ACLR surgery and 8 weeks postoperative rehabilitation. The control group consists of (n = 15) healthy subjects. Kinematic (cadence (steps/min), step length (cm), step width (cm), double support (% of the gait cycle), and swing phase (% of the gait cycle)), kinetic (F1, early stance phase; F2, middle stance phase; and F3, late stance phase forces), and EMG data of the (biceps femoris, adductor longus, vastus medialis, and vastus lateralis) muscles were recorded and analyzed at baseline, 8 weeks, 6 months, and 12 months follow-up. Results. The results of the a-ACLR, c-ACLR, and control groups were compared. At 8 weeks following postoperative rehabilitation, the a-ACLR group shows more significant changes than the c-ACLR group ( p < 0.001 ). At 6 and 12 months, there are normal values of kinematic and kinetic values in a-ACLR compared with the results of the control group ( p < 0.001 ). Conclusion. The study showed that postoperative rehabilitation provides significant effects in the kinematic, kinetic, and EMG gait parameters in acute ACLR than chronic ACLR subjects. Early surgical intervention and postrehabilitation are mandatory to get the significant effects in the clinical parameters in acute and chronic ACL injury.

scholarly journals Does an inverted pendulum model represent the gait of individuals with unilateral transfemoral amputation while walking over level ground?

2018 ◽  
Vol 43 (2) ◽  
pp. 221-226 ◽  
Author(s):  
Gerda Strutzenberger ◽  
Nathalie Alexander ◽  
Alan De Asha ◽  
Hermann Schwameder ◽  
Cleveland Thomas Barnett
Keyword(s):  
Gait Cycle ◽  
Inverted Pendulum ◽  
Metabolic Cost ◽  
Centre Of Mass ◽  
Transfemoral Amputation ◽  
Prosthetic Device ◽  
Relative Time ◽  
Prosthetic Limb ◽  
Inverted Pendulum Model ◽  
Pendulum Model

Background: An inverted pendulum model represents the mechanical function of able-bodied individuals walking accurately, with centre of mass height and forward velocity data plotting as sinusoidal curves, 180° out of phase. Objectives: This study investigated whether the inverted pendulum model represented level gait in individuals with a unilateral transfemoral amputation. Study Design: Controlled trial. Methods: Kinematic and kinetic data from 10 individuals with unilateral transfemoral amputation and 15 able-bodied participants were recorded during level walking. Results: During level walking, the inverted pendulum model described able-bodied gait well throughout the gait cycle, with median relative time shifts between centre of mass height and velocity maxima and minima between 1.2% and 1.8% of gait cycle. In the group with unilateral transfemoral amputation, the relative time shift was significantly increased during the prosthetic-limb initial double-limb support phase by 6.3%. Conclusion: The gait of individuals with unilateral transfemoral amputation shows deviation from a synchronous inverted pendulum model during prosthetic-limb stance. The reported divergence may help explain such individuals’ increased metabolic cost of gait. Temporal divergence of inverted pendulum behaviour could potentially be utilised as a tool to assess the efficacy of prosthetic device prescription. Clinical relevance The size of the relative time shifts between centre of mass height and velocity maxima and minima could potentially be used as a tool to quantify the efficacy of innovative prosthetic device design features aimed at reducing the metabolic cost of walking and improving gait efficiency in individuals with amputation.

The Condition of Dynamic Stability for Self-Paced Treadmill Walking Based on Inverted Pendulum Model

2020 ◽  
Author(s):  
Yuyang Qian ◽  
Kaiming Yang ◽  
Yu Zhu ◽  
Wei Wang ◽  
Chenhui Wan
Keyword(s):  
Inverted Pendulum ◽  
Inertial Frame ◽  
Walking Speed ◽  
Simulation Analysis ◽  
Treadmill Walking ◽  
Heel Strike ◽  
Gait Stability ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Simulation Results

Abstract A self-paced treadmill automatically adjusts speed in real-time to match the user’s walking speed, presumably leading to a more nature gait than fixed-speed treadmill. However, previous study has proven that the acceleration applied to the subjects would influence the gait stability. In order to have insights on to which extent will the accelerations affect gait stability, simulation analysis based on conceptual model has been done in the current study. This paper utilized a non-inertial frame based spring-loaded inverted pendulum model to analysis the condition of stability during continuous self-paced treadmill walking. Simulations were done for 100 continuous self-paced treadmill walking at the normal walking speed. And 10ms impulse accelerations of different magnitudes with the range of (−1g, 1g) were applied at different gait events such as toe-off, foot-flat and heel-strike. The simulation results showed that the magnitude of the accelerations had significantly influence on continuous self-paced treadmill walking and directional-dependency was also found. However, no significantly difference was found when applying the impulse acceleration at different gait events.

Design and Performance Analysis of LQR Controller for Stabilizing Double Inverted Pendulum System

2017 ◽  
Vol 2 (9) ◽  
pp. 1-5
Author(s):  
Ghassan A. Sultan ◽  
Ziyad K. Farej
Keyword(s):  
Inverted Pendulum ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Inverted Pendulum Model ◽  
Inverted Pendulum System ◽  
Pendulum Model ◽  
Lqr Controller ◽  
And Performance ◽  
Performance Results

Double inverted pendulum (DIP) is a nonlinear, multivariable and unstable system. The inverted pendulum which continually moves toward an uncontrolled state represents a challenging control problem. The problem is to balance the pendulum vertically upward on a mobile platform that can move in only two directions (left or right) when it is offset from zero stat. The aim is to determine the control strategy that deliver better performance with respect to pendulum's angles and cart's position. A Linear-Quadratic-Regulator (LQR) technique for controlling the linearized system of double inverted pendulum model is presented. Simulation studies conducted in MATLAB environment show that the LQR controller are capable of controlling the multi output double inverted pendulum system. Also better performance results are obtained for controlling heavy driven part DIP system.

Sign in / Sign up

Export Citation Format

Share Document