Estimation of Transition Frequency during Continuous Translation Surface Perturbation

Depending on task requirements, a human is able to select distinct strategies such as the use of an ankle strategy and hip strategy to maintain their balance. Postural control actions often co-occur with other movements, and such movements may bring about a change from one type of postural coordination to another. The selection of a postural control strategy has typically been investigated by the transition of the center of mass (COM), center of pressure (COP), and in between angle joint motion along with their characteristics. In this paper, we proposed a method using the logistic function of the sigmoid model based on cross-correlation coefficient (CCF) data for investigating and observing the transition of postural control strategies of COM–COP and ankle-hip angles towards anterior–posterior (AP) continuous translation perturbation. Subjects were required to stand on the motion base platform where perturbations with an increasing frequency (0.2 Hz to 0.8 Hz) and decreasing frequency (0.8 Hz to 0.2 Hz) in steps of 0.02 Hz, were induced. As the frequency increased, the COM and COP displacements were decreased, with the opposite trend observable with decreasing frequency. This pattern was also observed at the head peak-to-peak amplitude. Meanwhile, ankle and hip angular displacements were increased during increasing frequency and decreased during decreasing frequency. In this paper, the proposed sigmoid model could identify the transition frequency of COM–COP and ankle–hip transition. The mean transition frequency of COM–COP during increasing frequency was 0.44 Hz, and the ankle–hip transition frequency was 0.42 Hz. Meanwhile, for decreasing frequency, the COM–COP transition frequency was 0.55 Hz, and for the ankle–hip transition the frequency was 0.56 Hz. With frequencies, both increasing and decreasing, the COM–COP and ankle–hip transition frequencies occurred almost at the same frequency. Furthermore, the transition occurred at a lower time scale during increasing frequency compared to decreasing frequency. In conclusion, the continuous translation surface perturbation provided information on the behavior of postural control strategies. A sudden change in ‘phase angle’ was observed, where either an ankle or hip strategy was implemented to maintain balance. Besides, the transition frequency of postural control strategies could be determined to occur between 0.4 Hz and 0.6 Hz, based on the average value, for healthy young subjects in the AP plane. Furthermore, the proposed sigmoid model was believed to be able to be used in the determination of transition frequency in postural control strategies.

Influence of Treadmill Speed and Perturbation Intensity on Selection of Balancing Strategies during Slow Walking Perturbed in the Frontal Plane

Background. Common understanding is that adequate foot placement (stepping strategy) is crucial in maintaining stability during walking at normal speed. The aim of this study was to investigate strategies that humans use to cope with lateral perturbations during very slow walking. Methods. Ten healthy individuals underwent an experimental protocol whereby a set of perturbations directed inward (medially to a stance leg) and outward (laterally to a stance leg) of three intensities (F1=5%, F2=10%, and F3=15% of body weight), applied at three instances of a stance phase, were delivered in random order to the pelvis using a balance assessment robot while walking on a treadmill at three walking speeds (S1=0.4, S2=0.6, and S3=0.8 m/s). We analyzed the peak center of mass displacements; step length, step width, and step times; and the lateral component of ground reaction force for perturbations that were delivered at the beginning of the gait cycle. Results. Responses after inward perturbations were similar at all tested speeds and consistently employed stepping strategy that was further facilitated by a shortened stance. Wider and shorter steps were applied with increased perturbation intensity. Responses following outward perturbations were more complex. At S1, hip strategy (impulse-like increase of mediolateral ground reaction force) augmented with ankle strategy (mediolateral shift of the center of pressure) mainly contributed to responses already during the stance phase. The stance duration was significantly longer for all perturbation intensities. At S2, the relative share of hip strategy was reduced while with increased perturbation intensity, stepping strategy was gradually added. The stance duration was significantly longer for F1 and F2. At S3, stepping strategy was mainly used while the duration of stance was similar to the one in unperturbed walking. Responses following both inward and outward perturbations at all speeds were characterized by temporary slowing down movement in a sagittal plane that was more pronounced with increased perturbation intensity. Conclusions. This study provides novel insights into balancing strategies used at slower walking speeds which may be more relevant to understand the challenges of gait stability following perturbations in the frontal plane in clinical populations.

Preferred Hip Strategy During Landing Reduces Knee Abduction Moment in Collegiate Female Soccer Players

Context: Hip-focused interventions are aimed to decrease frontal plane knee loading related to anterior cruciate ligament injuries. Whether a preferred hip landing strategy decreases frontal plane knee loading is unknown. Objective: To determine if a preferred hip landing strategy during a drop vertical jump (DVJ) is utilized during a single-leg landing (SLL) task and whether differences in frontal plane knee loading are consistent between a DVJ and an SLL task. Design: Descriptive laboratory study. Setting: Research laboratory. Participants: Twenty-three collegiate, female soccer players. Main Outcome Measures: Participants were dichotomized into a hip (HIP; n = 9) or knee/ankle (KA; n = 14) strategy group based on the percentage distribution of each lower extremity joint relative to the summated moment (% distribution) during the DVJ. Separate 1-way analysis of variances examined the differences in joint-specific % distribution and external knee abduction moment between the HIP and KA groups. Results: The HIP group had significantly greater % distribution of hip moment and less % distribution of knee moment compared with the KA group during the DVJ and SLL. External knee abduction moment was also significantly less in the HIP group compared with the KA group during the DVJ. Conclusions: Female soccer athletes who land with a preferred hip strategy during a DVJ also land with a preferred hip strategy during an SLL. The preferred hip strategy also resulted in less external knee abduction moments during the DVJ. Clinical Relevance: Targeting the neuromuscular control of the hip extensor may be useful in reducing risk of noncontact anterior cruciate ligament injuries.

HUMANOID FALL AVOIDANCE USING A MIXTURE OF STRATEGIES

If we are to one day rely on robots as assistive devices they should be capable of mitigating the impact of random disturbances and avoid falling. Humans are surprisingly apt at remaining on their feet when pushed; they rely on reflexes such as bending the ankles and/or the hips, or by taking a step if the magnitude of the disturbance is relatively large. This paper presents a fall avoidance scheme that is capable of applying both ankle and hip strategies on a humanoid robot. While both strategies serve the same purpose, the hip strategy can absorb larger disturbances but has a higher energy overhead and should be avoided when it is not necessary. Our system is capable of detecting at the onset of a disturbance if an ankle or hip strategy is more appropriate. The decision is taken based on a 'decision surface' that is delimited by threshold values of the robot's state variables. The control is based on the Virtual Model Control (VMC) approach. The system is tested on a simulated robot developed under Gazebo as well as on a real small-scale humanoid robot. Results show successful fall avoidance with an ability to choose the optimum fall avoidance strategy.