The document describes the development of a gait generation system for a lower limb prosthesis using measured ground reaction forces. An adaptive fuzzy controller was designed using experimental kinematic data from healthy limbs and ground reaction force measurements from force platforms. The controller determines the appropriate torques needed to actuate a dynamic model of an active ankle-knee prosthesis during walking, stair ascent, and stair descent cycles based on fuzzy logic rules. The capacity of the prosthesis model and controller to replicate these gaits was tested by comparing the results to kinematics of an unimpaired subject.
International Journal of Computational Engineering Research(IJCER)ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
This study examined how the choice of Cardan sequence affects 3D kinematic measurements of the lower extremities during cycling. The researchers found that the YXZ and ZXY sequences produced significantly greater peak angle and range of motion measurements in the sagittal, coronal, and transverse planes compared to other sequences. These sequences also exhibited the strongest correlations between the sagittal plane and other planes, indicating crosstalk. The researchers concluded that the XYZ sequence should continue to be used for cycling analysis to avoid inaccuracies from the YXZ and ZXY sequences.
This study examined the relationship between cycling economy, measured as oxygen consumption (VO2), and simultaneous measurements of 3D kinematics and electromyography in trained cyclists. A multiple regression analysis showed that peak knee extension velocity and mean activity of the rectus femoris muscle were significant predictors of VO2 during steady state cycling. This was the first study to relate cycling economy to 3D kinematic and electromyography measurements, providing insight into optimizing biomechanical parameters to improve cycling performance.
This document presents the methods for a project modeling human gait using forward and inverse dynamics. It describes creating a 3-body model of the leg consisting of thigh, shank, and foot segments. Kinematic data from Winter et al. will be used to calculate joint positions, velocities and accelerations over the gait cycle. Forward dynamics will be used to model joint torques and forces during gait. Inverse dynamics will then calculate internal joint forces and stresses will be analyzed through finite element analysis. The objectives are to model both a human leg and prosthetic leg, compare their kinematics, forces and validate the results with literature to better understand discrepancies between natural and prosthetic gait.
Discus throwing performances and medical classification of wheelchair athlete...Ciro Winckler
CHOW, J. W.; MINDOCK, L. A. Discus throwing performances and medical classification of wheelchair athletes. Medicine and Science in Sports and Exercise, v. 31, n. 9, p. 1272-1279, 1999.
This study examined the relationship between lower leg muscle fatigue and changes in foot pronation in recreational runners. Three recreational runners had their foot biomechanics measured before and after a calf raise fatigue protocol using markers and video analysis. The results found minimal changes between the pre-and post-fatigue foot biomechanics, with coordinate location differences averaging around 1-2 mm. The fatigue protocol may not have been effective at inducing significant muscle fatigue, and the video measurement method lacked accuracy to detect small changes in pronation. More advanced equipment and protocols are needed to further study this relationship.
LOWER LIMB ANGULAR KINEMATICS AND HOW IT EFFECTS GAIT SPEEDJohn Joe Magee
This study examined the relationship between lower limb angular kinematics and gait speed. The researcher measured peak knee flexion in the stance and swing phases and peak plantarflexion in a participant walking at various speeds. Results showed no significant correlation between knee flexion in stance and speed. However, there was a strong positive correlation between knee flexion in swing and speed, as well as between plantarflexion and speed. These findings support previous research indicating that knee flexion in swing and plantarflexion are important mechanisms for achieving higher gait velocities.
International Journal of Computational Engineering Research(IJCER)ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
This study examined how the choice of Cardan sequence affects 3D kinematic measurements of the lower extremities during cycling. The researchers found that the YXZ and ZXY sequences produced significantly greater peak angle and range of motion measurements in the sagittal, coronal, and transverse planes compared to other sequences. These sequences also exhibited the strongest correlations between the sagittal plane and other planes, indicating crosstalk. The researchers concluded that the XYZ sequence should continue to be used for cycling analysis to avoid inaccuracies from the YXZ and ZXY sequences.
This study examined the relationship between cycling economy, measured as oxygen consumption (VO2), and simultaneous measurements of 3D kinematics and electromyography in trained cyclists. A multiple regression analysis showed that peak knee extension velocity and mean activity of the rectus femoris muscle were significant predictors of VO2 during steady state cycling. This was the first study to relate cycling economy to 3D kinematic and electromyography measurements, providing insight into optimizing biomechanical parameters to improve cycling performance.
This document presents the methods for a project modeling human gait using forward and inverse dynamics. It describes creating a 3-body model of the leg consisting of thigh, shank, and foot segments. Kinematic data from Winter et al. will be used to calculate joint positions, velocities and accelerations over the gait cycle. Forward dynamics will be used to model joint torques and forces during gait. Inverse dynamics will then calculate internal joint forces and stresses will be analyzed through finite element analysis. The objectives are to model both a human leg and prosthetic leg, compare their kinematics, forces and validate the results with literature to better understand discrepancies between natural and prosthetic gait.
Discus throwing performances and medical classification of wheelchair athlete...Ciro Winckler
CHOW, J. W.; MINDOCK, L. A. Discus throwing performances and medical classification of wheelchair athletes. Medicine and Science in Sports and Exercise, v. 31, n. 9, p. 1272-1279, 1999.
This study examined the relationship between lower leg muscle fatigue and changes in foot pronation in recreational runners. Three recreational runners had their foot biomechanics measured before and after a calf raise fatigue protocol using markers and video analysis. The results found minimal changes between the pre-and post-fatigue foot biomechanics, with coordinate location differences averaging around 1-2 mm. The fatigue protocol may not have been effective at inducing significant muscle fatigue, and the video measurement method lacked accuracy to detect small changes in pronation. More advanced equipment and protocols are needed to further study this relationship.
LOWER LIMB ANGULAR KINEMATICS AND HOW IT EFFECTS GAIT SPEEDJohn Joe Magee
This study examined the relationship between lower limb angular kinematics and gait speed. The researcher measured peak knee flexion in the stance and swing phases and peak plantarflexion in a participant walking at various speeds. Results showed no significant correlation between knee flexion in stance and speed. However, there was a strong positive correlation between knee flexion in swing and speed, as well as between plantarflexion and speed. These findings support previous research indicating that knee flexion in swing and plantarflexion are important mechanisms for achieving higher gait velocities.
1) The study investigated how humans control their arm movements to maintain balance while walking on a narrow beam, in order to inform control algorithms for humanoid robots.
2) The results showed that subjects who had higher correlation between left and right arm movements performed better on the balance beam task.
3) When arm joints were constrained, performance improved, possibly by simplifying control and reducing interaction torques between segments. Coordination between arms also increased with constraints.
This document describes a study that designed and validated a solid-static prototype model of the male upper body to analyze the preparation phase of seated locomotion produced by shoulder movement. The prototype mimicked average male anthropometrics and was tasked to perform a downward poling motion from various starting shoulder angles. Motion capture and force plate data validated that the prototype reliably produced consistent trajectory curves and similar reaction forces across trials, demonstrating its mechanical validity. The study concludes that the prototype provides a means to establish baseline measures of forces on the shoulder during the preparation phase, which can inform assumptions about internal forces during human movement.
This document summarizes two experiments that examined the coordination strategies during walk-run and run-walk transitions. Experiment 1 found that walking and running have distinct coordination patterns that remain stable at different speeds. Experiment 2 analyzed coordination in the transition stride and surrounding strides, finding that the transition stride adopts the coordination of the emerging gait. There was hysteresis in transition speeds between walk-run and run-walk. The data suggest gait transitions occur due to coordination thresholds rather than energy optimization.
This study investigated hip muscle activation during common closed-chain rehabilitation exercises and running in runners. Electromyography was used to measure gluteus maximus and medius activation during a resisted hip external rotation exercise, single leg squat with trunk rotation, forward lunge with resisted abduction, and running. The forward lunge elicited the highest hip muscle activation, but activation was still substantially less than during running. While the exercises activated the hip muscles more than non-weight bearing exercises, there remains a disconnect between activation during exercises and running. Further research is needed to identify exercises that more closely mimic muscle demands during running.
The human locomotion is studied through gait analysis and is best observed instrumentally rather than observing visually. Thus, a portable insole pressure mapping system is built to assist in studying the human gait cycle. The pressure distribution is determined by instrumentally mapping the insole using force sensitive resistive sensors that are connected to Arduino UNO via cables. The values are saved into a secure digital card that could be post processed. Hardware and software design phase are executed for the development of this project. The outcomes match to the knowledge of human gait definitions in static posture and normal walking.
Dr jehad al sukhun gives modelling of orbital deformationjehadsukhun
The purpose of this study was to develop a three-dimensional finite-element model (FEM) of the human orbit, containing the globe, to predict orbital deformation in subjects following a blunt injury
This document analyzes the biomechanics of manual wheelchair propulsion through 6 phases of the propulsion cycle. It examines whole body movement including center of gravity movement and joint angles. External forces on the body are estimated including forces applied by the hands on the wheelchair pushrims. Joint analyses are presented for the shoulder, elbow, and wrist by calculating lever arms and joint moments. The purpose is to understand injuries commonly seen in wheelchair users and how proper training and positioning can affect patients. Key findings include forward displacement of the center of gravity and changes in shoulder, elbow, and wrist joint angles throughout the cycle.
This document summarizes a study that performed a 3D finite element analysis of the human femur bone. The analysis used a 3D CAD model of the femur obtained from medical scans. The model was meshed and material properties were assigned to different bone tissues. Nonlinear analyses were conducted to simulate loads on the femur during normal activities. Results were compared to previous studies to validate the model. The study found that cancellous bone tissue reduces stresses in the femur, with its absence causing stresses almost double the amount.
The document describes a marker system and algorithm for computing lower extremity joint angles during walking. Researchers developed a simple external marker setup and used Euler rotation angles to define three-dimensional joint motion based on body surface marker positions. The system was tested on 40 subjects over three sessions, measuring hip, knee, and ankle joint motion throughout the gait cycle. Sensitivity analysis demonstrated the effect of errors in defining the embedded axes used to calculate joint angles.
The document presents a hypothesis that the range of motion (ROM) of synovial joints can be predicted by subtracting the concave arc from the convex arc of the articular surfaces. The authors tested this hypothesis on 21 joints from cadavers by measuring the actual ROM and comparing it to the predicted ROM calculated from the articular surface dimensions. They found a moderate correlation of r=0.77 between the measured and predicted ROM, supporting the hypothesis with some limitations.
This study tested the hypothesis that orthotic intervention would significantly alter the coronal and transverse plane kinematics of the lower extremities during cycling, with larger wedge inclinations having a greater influence. The study found that orthotic devices with varus wedge inclinations of 1.5mm, 3.0mm, and 4.5mm did not significantly influence the three-dimensional kinematics of the hip, knee, or ankle at any of the three tested cadences of 70, 90, and 110 RPM. Subjective ratings showed a clear preference for no orthotic over the varus wedge inclinations. This suggests that foot orthoses do not provide protection from skeletal malalignment issues associated with chronic cycling injuries.
As expected when the ActivMotion Bar was compared to medicine balls and standard bars in the same movements there was consistently much higher muscle activation all over the body!
Comparison of regression models for estimation of isometric wrist joint torqu...Amir Ziai
The document compares the performance of common regression models for estimating wrist joint torque using surface electromyography (SEMG) signals under different circumstances. It finds that model accuracy decreases significantly with the passage of time, electrode displacement, and changes in limb posture. The ordinary least squares linear regression model provided high accuracy and very short training times compared to other models tested, including physiological, support vector machine, artificial neural network, and locally weighted projection regression models. Regular retraining of models is necessary to maintain accurate torque estimation when factors like time, electrode placement, or limb position change.
Reduced Model Adaptive Force Control for Carrying Human Beings with Uncertain...toukaigi
This document summarizes a research paper that proposes a new strategy for lifting human bodies into predefined positions and postures using robot arms. The strategy treats the human body as a redundant system and only controls certain "interested" joint states, like the head position and hip angle, to simplify the complex human model. It develops an adaptive controller and estimator to identify the dynamic parameters of a reduced human body model in real-time to account for individual differences between people. Simulations lifting a skeleton model with robot arms verify the efficiency and effectiveness of the proposed approach.
Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Bo...toukaigi
This paper proposes an adaptive attitude control approach to lift the human body using robots, regardless of individual differences like height and weight. It models the human body as a complex, time-varying, redundant system. The approach treats the human body as having "interested" and "uninterested" joints. It uses robust adaptive control to eliminate the effects of "uninterested joints" and identify human parameters in real-time. This reduces the complex human model to a smaller one with fewer degrees of freedom. The approach is simulated by lifting a human skeleton with two robot arms, verifying its efficiency and effectiveness.
This document summarizes a study that analyzed muscle coordination during rectilinear and curvilinear walking using muscle synergies extracted from electromyography (EMG) data. EMG signals were recorded from 15 muscles in the leg and trunk from 13 healthy subjects walking straight and along circular trajectories in both directions. Muscle synergies were identified using non-negative matrix factorization and compared across conditions. Results showed cadence decreased and stance phase duration increased in curvilinear walking compared to straight. Abdominal and adductor muscles had high variability and were excluded. Synergies accounted for muscle coordination in different walking conditions.
MINIMIZATION OF METABOLIC COST OF MUSCLES BASED ON HUMAN EXOSKELETON MODELING...ijbesjournal
In this work, movement of the exoskeleton wearer and the metabolic energy changes with the assisted
devices using OpenSim platform has been attempted. Two musculoskeletal models, one with torsional ankle
spring and the other with bi-articular path spring are subjected to forward dynamic simulation.The
changes in the metabolic rate of the lower extremity muscles before and after the addition of the assistive
devices were tested. The results about the effect of these external devices on individual muscles of the lower
muscle group were analysed which provided effective results.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
This document describes research on designing mechatronic systems for human balance rehabilitation. It discusses key human balance systems - vision, vestibular, and somatosensory systems. It then introduces the concept of Zero Moment Point (ZMP), which is important for bipedal robot balance and gait analysis. ZMP represents the point where the total momentum of a mechanism is zero. The document explains how to calculate ZMP and compares it to the Center of Pressure. Maintaining the ZMP inside the support polygon is necessary for dynamic stability. This research aims to apply insights into human balance maintenance to develop rehabilitation technologies.
Center of Pressure Feedback for Controlling the Walking Stability Bipedal Rob...UniversitasGadjahMada
This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
Center of Pressure Feedback for Controlling the Walking Stability Bipedal Rob...IJECEIAES
This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
1) The study investigated how humans control their arm movements to maintain balance while walking on a narrow beam, in order to inform control algorithms for humanoid robots.
2) The results showed that subjects who had higher correlation between left and right arm movements performed better on the balance beam task.
3) When arm joints were constrained, performance improved, possibly by simplifying control and reducing interaction torques between segments. Coordination between arms also increased with constraints.
This document describes a study that designed and validated a solid-static prototype model of the male upper body to analyze the preparation phase of seated locomotion produced by shoulder movement. The prototype mimicked average male anthropometrics and was tasked to perform a downward poling motion from various starting shoulder angles. Motion capture and force plate data validated that the prototype reliably produced consistent trajectory curves and similar reaction forces across trials, demonstrating its mechanical validity. The study concludes that the prototype provides a means to establish baseline measures of forces on the shoulder during the preparation phase, which can inform assumptions about internal forces during human movement.
This document summarizes two experiments that examined the coordination strategies during walk-run and run-walk transitions. Experiment 1 found that walking and running have distinct coordination patterns that remain stable at different speeds. Experiment 2 analyzed coordination in the transition stride and surrounding strides, finding that the transition stride adopts the coordination of the emerging gait. There was hysteresis in transition speeds between walk-run and run-walk. The data suggest gait transitions occur due to coordination thresholds rather than energy optimization.
This study investigated hip muscle activation during common closed-chain rehabilitation exercises and running in runners. Electromyography was used to measure gluteus maximus and medius activation during a resisted hip external rotation exercise, single leg squat with trunk rotation, forward lunge with resisted abduction, and running. The forward lunge elicited the highest hip muscle activation, but activation was still substantially less than during running. While the exercises activated the hip muscles more than non-weight bearing exercises, there remains a disconnect between activation during exercises and running. Further research is needed to identify exercises that more closely mimic muscle demands during running.
The human locomotion is studied through gait analysis and is best observed instrumentally rather than observing visually. Thus, a portable insole pressure mapping system is built to assist in studying the human gait cycle. The pressure distribution is determined by instrumentally mapping the insole using force sensitive resistive sensors that are connected to Arduino UNO via cables. The values are saved into a secure digital card that could be post processed. Hardware and software design phase are executed for the development of this project. The outcomes match to the knowledge of human gait definitions in static posture and normal walking.
Dr jehad al sukhun gives modelling of orbital deformationjehadsukhun
The purpose of this study was to develop a three-dimensional finite-element model (FEM) of the human orbit, containing the globe, to predict orbital deformation in subjects following a blunt injury
This document analyzes the biomechanics of manual wheelchair propulsion through 6 phases of the propulsion cycle. It examines whole body movement including center of gravity movement and joint angles. External forces on the body are estimated including forces applied by the hands on the wheelchair pushrims. Joint analyses are presented for the shoulder, elbow, and wrist by calculating lever arms and joint moments. The purpose is to understand injuries commonly seen in wheelchair users and how proper training and positioning can affect patients. Key findings include forward displacement of the center of gravity and changes in shoulder, elbow, and wrist joint angles throughout the cycle.
This document summarizes a study that performed a 3D finite element analysis of the human femur bone. The analysis used a 3D CAD model of the femur obtained from medical scans. The model was meshed and material properties were assigned to different bone tissues. Nonlinear analyses were conducted to simulate loads on the femur during normal activities. Results were compared to previous studies to validate the model. The study found that cancellous bone tissue reduces stresses in the femur, with its absence causing stresses almost double the amount.
The document describes a marker system and algorithm for computing lower extremity joint angles during walking. Researchers developed a simple external marker setup and used Euler rotation angles to define three-dimensional joint motion based on body surface marker positions. The system was tested on 40 subjects over three sessions, measuring hip, knee, and ankle joint motion throughout the gait cycle. Sensitivity analysis demonstrated the effect of errors in defining the embedded axes used to calculate joint angles.
The document presents a hypothesis that the range of motion (ROM) of synovial joints can be predicted by subtracting the concave arc from the convex arc of the articular surfaces. The authors tested this hypothesis on 21 joints from cadavers by measuring the actual ROM and comparing it to the predicted ROM calculated from the articular surface dimensions. They found a moderate correlation of r=0.77 between the measured and predicted ROM, supporting the hypothesis with some limitations.
This study tested the hypothesis that orthotic intervention would significantly alter the coronal and transverse plane kinematics of the lower extremities during cycling, with larger wedge inclinations having a greater influence. The study found that orthotic devices with varus wedge inclinations of 1.5mm, 3.0mm, and 4.5mm did not significantly influence the three-dimensional kinematics of the hip, knee, or ankle at any of the three tested cadences of 70, 90, and 110 RPM. Subjective ratings showed a clear preference for no orthotic over the varus wedge inclinations. This suggests that foot orthoses do not provide protection from skeletal malalignment issues associated with chronic cycling injuries.
As expected when the ActivMotion Bar was compared to medicine balls and standard bars in the same movements there was consistently much higher muscle activation all over the body!
Comparison of regression models for estimation of isometric wrist joint torqu...Amir Ziai
The document compares the performance of common regression models for estimating wrist joint torque using surface electromyography (SEMG) signals under different circumstances. It finds that model accuracy decreases significantly with the passage of time, electrode displacement, and changes in limb posture. The ordinary least squares linear regression model provided high accuracy and very short training times compared to other models tested, including physiological, support vector machine, artificial neural network, and locally weighted projection regression models. Regular retraining of models is necessary to maintain accurate torque estimation when factors like time, electrode placement, or limb position change.
Reduced Model Adaptive Force Control for Carrying Human Beings with Uncertain...toukaigi
This document summarizes a research paper that proposes a new strategy for lifting human bodies into predefined positions and postures using robot arms. The strategy treats the human body as a redundant system and only controls certain "interested" joint states, like the head position and hip angle, to simplify the complex human model. It develops an adaptive controller and estimator to identify the dynamic parameters of a reduced human body model in real-time to account for individual differences between people. Simulations lifting a skeleton model with robot arms verify the efficiency and effectiveness of the proposed approach.
Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Bo...toukaigi
This paper proposes an adaptive attitude control approach to lift the human body using robots, regardless of individual differences like height and weight. It models the human body as a complex, time-varying, redundant system. The approach treats the human body as having "interested" and "uninterested" joints. It uses robust adaptive control to eliminate the effects of "uninterested joints" and identify human parameters in real-time. This reduces the complex human model to a smaller one with fewer degrees of freedom. The approach is simulated by lifting a human skeleton with two robot arms, verifying its efficiency and effectiveness.
This document summarizes a study that analyzed muscle coordination during rectilinear and curvilinear walking using muscle synergies extracted from electromyography (EMG) data. EMG signals were recorded from 15 muscles in the leg and trunk from 13 healthy subjects walking straight and along circular trajectories in both directions. Muscle synergies were identified using non-negative matrix factorization and compared across conditions. Results showed cadence decreased and stance phase duration increased in curvilinear walking compared to straight. Abdominal and adductor muscles had high variability and were excluded. Synergies accounted for muscle coordination in different walking conditions.
MINIMIZATION OF METABOLIC COST OF MUSCLES BASED ON HUMAN EXOSKELETON MODELING...ijbesjournal
In this work, movement of the exoskeleton wearer and the metabolic energy changes with the assisted
devices using OpenSim platform has been attempted. Two musculoskeletal models, one with torsional ankle
spring and the other with bi-articular path spring are subjected to forward dynamic simulation.The
changes in the metabolic rate of the lower extremity muscles before and after the addition of the assistive
devices were tested. The results about the effect of these external devices on individual muscles of the lower
muscle group were analysed which provided effective results.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
This document describes research on designing mechatronic systems for human balance rehabilitation. It discusses key human balance systems - vision, vestibular, and somatosensory systems. It then introduces the concept of Zero Moment Point (ZMP), which is important for bipedal robot balance and gait analysis. ZMP represents the point where the total momentum of a mechanism is zero. The document explains how to calculate ZMP and compares it to the Center of Pressure. Maintaining the ZMP inside the support polygon is necessary for dynamic stability. This research aims to apply insights into human balance maintenance to develop rehabilitation technologies.
Center of Pressure Feedback for Controlling the Walking Stability Bipedal Rob...UniversitasGadjahMada
This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
Center of Pressure Feedback for Controlling the Walking Stability Bipedal Rob...IJECEIAES
This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This document summarizes an approach for mobile robot control using an integral backstepping approach. It begins by introducing mobile robots and their applications, as well as existing control approaches. It then presents the dynamic model of a unicycle-type mobile robot. Next, it describes the proposed control architecture, which uses a kinematic controller for the outer loop and an integral PI/backstepping controller for the dynamic model. Finally, it outlines the design of the nonlinear PI-based backstepping controller, including the error functions, Lyapunov functions, and virtual control inputs. The goal is to improve robustness when dynamic parameters are unknown.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
A COMPARATIVE STUDY OF LSTM AND PHASED LSTM FOR GAIT PREDICTIONgerogepatton
With an aging population that continues to grow, the protection and assistance of the older persons has become a very important issue. Fallsare the main safety problems of the elderly people, so it is very important to predict the falls. In this paper, a gait prediction method is proposed based on two kinds of LSTM. Firstly, the lumbar posture of the human body is measured by the acceleration gyroscope as the gait feature, and then the gait is predicted by the LSTM network. The experimental results show that the RMSE
between the gait trend predicted by the method and the actual gait trend can be reached a level of 0.06 ± 0.01. And the Phased LSTM has a shorter training time. The proposed method can predict the gait trend well
A COMPARATIVE STUDY OF LSTM AND PHASED LSTM FOR GAIT PREDICTIONijaia
With an aging population that continues to grow, the protection and assistance of the older persons has
become a very important issue. Fallsare the main safety problems of the elderly people, so it is very
important to predict the falls. In this paper, a gait prediction method is proposed based on two kinds of
LSTM. Firstly, the lumbar posture of the human body is measured by the acceleration gyroscope as the gait
feature, and then the gait is predicted by the LSTM network. The experimental results show that the RMSE
between the gait trend predicted by the method and the actual gait trend can be reached a level of 0.06 ±
0.01. And the Phased LSTM has a shorter training time. The proposed method can predict the gait trend
well.
Parameter study of stable walking gaits for nao humanoid roboteSAT Journals
Abstract It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Index Terms: Walking gaits, NAO humanoid robot, ZMP
HYBRID SYNCHRONIZATION OF LIU AND LÜ CHAOTIC SYSTEMS VIA ADAPTIVE CONTROLijait
This paper derives new results for the hybrid synchronization of identical Liu systems, identical Lü systems, and non-identical Liu and Lü systems via adaptive control method. Liu system (Liu et al. 2004) and Lü system (Lü and Chen, 2002) are important models of three-dimensional chaotic systems. Hybrid synchronization of the three-dimensional chaotic systems addressed in this paper is achieved through the synchronization of the first and last pairs of states and anti-synchronization of the middle pairs of the two systems. Adaptive control method is deployed in this paper for the general case when the system
parameters are unknown. Sufficient conditions for hybrid synchronization of identical Liu systems, identical Lü systems and non-identical Liu and Lü systems are derived via adaptive control theory and Lyapunov stability theory. Since the Lyapunov exponents are not needed for these calculations, the
adaptive control method is very effective and convenient for the hybrid synchronization of the chaotic systems addressed in this paper. Numerical simulations are shown to illustrate the effectiveness of the proposed synchronization schemes.
Insect inspired hexapod robot for terrain navigationeSAT Journals
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DEVELOPEMENT OF GAIT GENERATION SYSTEM FOR A LOWER LIMB PROSTHESIS USING MEASURED GROUND REACTION FORCES
1. International Journal of Advance Robotics & Expert Systems (JARES) Vol.1, No.5
1
DEVELOPEMENT OF GAIT GENERATION SYSTEM
FOR A LOWER LIMB PROSTHESIS USING MEASURED
GROUND REACTION FORCES
Wiem Abdallah1
, Rahma Boucetta2
and Saloua Bel Hadj Ali3
1
Modeling, Analysis and Control of Systems (MACS Lab.), National Engineering School
of Gabes, University of Gabes, Zrig, 6029 Gabes, Tunisia
2
Sciences Faculty of Sfax, University of Sfax, Road of soukra, 3000, Sfax, Tunisia
3
Preparatory Institute of El Manar, El Manar University, Campus Farhat Hached
BP N94 Rommana, 1068 Tunis, Tunisia.
ABSTRACT
Lower limb dynamic models are useful to investigate the biomechanics of the knee and ankle joints, but
many systems have several limitations which includes simplified forces, non physiologic kinematics and the
complicated interactions between the foot and the ground. Many approaches in control of prosthetic
devices use prediction algorithms to estimate ground reaction forces (GRF), which can degrade the
performance and the efficiency of the devices due to calculation errors. In this study, the variation of the
GRF during different gait cycles was investigated in the design of an adaptive fuzzy controller for a
dynamic model of an active ankle-knee prosthesis, the efficiency of the controller was tested for walking
gait, stair ascent and descent. Real experimental kinematics of the lower limb and GRF measured by forces
platforms were selected as the controller inputs and fuzzy reasoning was used to determine the adequate
torques to actuate the prosthetic device model. The capacity of the active prosthesis and the designed
controller to provide walking, stair ascent and descent cycles was tested by comparing the gait kinematics
to those provided by a healthy subject.
KEYWORDS
Knee, Active Prosthesis, Fuzzy Takagi-Sugeno Control, PID, Reaction Forces.
1. INTRODUCTION
During gait, the ground provides reaction forces responsible for maintaining gait balance. These
forces depend on different factors like ground contact surface condition, slope, elevation of the
terrain and gait types [1]. These forces have been recently used in gait analysis and classification:
an approach to movement recognition, using the vertical component of a person’s GRF was
presented in [2], typical movements such as taking a step, jumping, drop-landing, sitting down,
rising to stand and crouching were decomposed and recognized using the vertical component of
the GRF signal measured by a weight sensitive floor. Another approach in [3] presented a
comparison of gait phases detected from the data recorded by force sensing resistors mounted in
the shoe insoles. A new method based on GRF measurements of human gait was used for subject
recognition [4]; the classification task is accomplished by means of a kernel-based support vector
machine. A study in [5] used also GRF in feature recognition based on fuzzy reasoning. GRF
measurements were also a helpful tool in flat foot problem diagnosis and were used as a criterion
to discriminate between normal and flat foot subjects [6]. Other techniques were also used to
provide lower limb assistance like MRI which used collected clinical human data to estimate
joints kinematics [7] [8]. In another field, many researchers considered GRF variations in
designing lower limb prosthetic devices given its great effect on the stability, balance, and energy
consumption of the prosthesis and consequently the user’s stability, so they have to be considered
2. International Journal of Advance Robotics & Expert Systems (JARES) Vol.1, No.5
2
in the control strategy. Accelerometers and gyroscopes have been used to detect an elevation
change of the ground in [9] [10] [11]. A method using gyroscopes and infrared sensors was used
in [12] to estimate the ground slope and elevation of the foot above the ground. A Terrain
Recognition System was presented in [13] to estimate the height and slope of the terrain using
laser distance sensors. In some few studies, complete hierarchical controllers were established.
These controllers perceive the users locomotive intent based on signals from the user,
environment as a first step, then translate this information to a desired output state for the device
used as a reference input in a specific control loop that executes the desired movement [14] [15]
[16] [17] [18] [19] [20] [21][22].
In this paper, experimental data of GRF combined with healthy limb data is used to generate the
adequate gaits for lower limb prosthesis. The collected data is fed to a Fuzzy Inference System
(FIS) that actuates a dynamic model of the prosthetic device. The proposed strategy is evaluated
for different types of gaits such as walking, stair ascent and descent and validated by simulation
results. Mathematical equations of human lower limb model, consisting of two degrees of
freedom (Knee and ankle joints), are presented in a first section. In the second section gait
analysis is provided for three different gait activities: walking, stairs ascent and descent. Then the
fuzzy controller is evaluated for these different cycles and the results are presented and discussed
finally.
2. DYNAMICS OF THE LOWER LIMB ACTIVE PROSTHESIS
2.1. Link-Segment Diagram
In this section, the dynamics of the ankle-knee prosthesis is modeled by a link-segment diagram.
Since total human control is assumed at the biological hip joint of the residual limb, this paper
focuses on the dynamics and control of the ankle-knee prosthesis.
Fig.1 shows the link-segment representation of the leg on the amputated side in the sagittal plane.
The segment lengths are L1 and L2. Locations of the segment centers of gravity (cog) are
represented by r1 and r2. Horizontal feet disturbances are assumed as a fixed acceleration x&&of
the ground contact point. 1 and 2 are the joint torques corresponding to the ankle and the knee
respectively. 1 and 2 depict respectively ankle and knee angles. F1 and F2 represent the
horizontal and vertical components of ground reaction force applied to the prosthetic ankle joint.
These forces, caused by the interaction of the foot with the terrain, influence highly the gait cycle
and have a critical role in supporting the body weight, ensuring stability, and providing the
necessary propulsion for the gait. The only inputs to the model are externally applied GRF and
ankle and knee joint torques.
Figure 1. Knee-Ankle prosthesis model.
2.2. Euler-Lagrange Equations
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The dynamics of the prosthesis are derived using the Euler-Lagrange approach [20] for a nominal
gait cycle. To utilize the Lagrangian method, Cartesian coordinates of the cog for each link, (x1,
y1) and (x2, y2), are defined as:
1 1 1
1 1 1
cos
sin
x x r
y r
(1)
2 2 2 1 1
2 2 2 1 1
cos cos
sin sin
x x r L
y r L
(2)
The time derivative of displacement of the cog for each link is calculated according to (1) and (2):
1 1 1 1
1 1 1 1
sin
cos
x x r
y r
&& &
&&
(3)
2 1 1 1 2 2 2
2 1 1 1 2 2 2
sin sin
cos cos
x x L r
y L r
& && &
& &&
(4)
The kinetic energy of the whole system, T, is the sum of kinetic energy of individual links, and
can be written as:
2 2 2 2 2 2
1 1 1 1 1 2 2 2 2 2
1 1 1 1
+
2 2 2 2
T m x y I m x y I & && & & & (5)
The total potential energy of system, U, can be obtained by:
1 1 2 2+T m y m y g (6)
The Lagrangian, L, is a scalar function that is defined as the difference between kinetic and
potential energies of the mechanical system:
L T U (7)
The equations of motion for the prosthesis are derived using the Lagrangian in equation (7) and
the following equations:
1 2'
, q= , ,
d L L
Q x
tot dt qq
(8)
From (7) and (8), the equations of motion can be written as:
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2 2 2 ( ) sin sin
1 1 1 1 1 2 1 2 2 2 2 1 1 2 2 1 2 2 2
( )cos cos cos cos sin
2 2 1 1 2 2 1 1 1 1 2 1 1 2 2 2 2 1 1
sin cos cos
2 2 2 1 1 1 1 2 2
m r I m L m r I m r m L x m r x
m r L m r g m L g m r g F L
F L F L F L
&& && && &&
&& && (9)
2 2sin cos sin
2 2 2 2 2 2 2 2 2 2 1 1 2 1 2 2 1 1 2 1
cos cos sin
2 2 2 1 2 2 2 2 2
T m r I m r x m r L m r L
m r g F L F L
&& && &&&
(10)
2 2
1 1 2 1 1 1 1 1 1 2 1 2 2 2 2 1 2sin cos sin cosF m m x m r m L m r && & && &&& (11)
3. GAIT ANALYSIS
To ensure better control of the prosthesis, it is necessary, first, to study the biomechanical activity
of the lower limb for different types of activities. In this paper, three types of gait will be studied:
walking, stair ascent and descent. These activities are cyclical and can be broken down into
several phases depending on the relationship between the foot and its contact point with the
ground.
3.1. Walking Cycle
During the walking cycle, the considered lower limb alternates a support phase (foot in contact
with the ground) and an oscillating phase (foot without contact on the ground). A walking cycle is
thus composed of a support phase (approximately 60% of the cycle) and an oscillating phase
(approximately 40% of the cycle) of the lower right and left limbs (Fig.2).
Figure 2. Sub-phases of the healthy leg during walking gait cycle.
3.2. Stair Descent
The descent cycle begins with body weight transfer on the lower limb of support, until the single
limb support phase. The descent is performed by a flexion of hip and knee. The center of gravity
begins to advance, simultaneously, the ankle controls the progressive advance of the tibia. Then,
it moves vertically down. At this moment, the ankle is in extension and has a damping role. The
weight is then transferred to the contra lateral lower limb to begin the oscillation phase (Fig.3).
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Figure 3. Sub-phases of the healthy leg during stair decent.
3.3. Stair Ascent
The cycle begins with the foot contact with the ground. Then, the weight of the body is
transferred to the anterior leg, which extends through a concentric muscle contraction of the
quadriceps. This causes a vertical displacement of the center of gravity. The unipodal support
phase continues with anterior displacement of the center of mass associated with anterior flexion
of the trunk and ends with the contact of the second foot with the ground. During the swing
phase, the foot is ascended and placed on the upper step (Fig.4).
Figure 4. Sub-phases of the healthy leg during stair ascent.
4. CONTROL OF THE ACTIVE PROSTHESIS
In the approach proposed herein (Fig.5), measured GRF’s combined with femur and tibia
inclination angles are used as a training set for a FIS that enables the prosthesis model to follow a
displacement profile similar to that of a natural leg during three types of gait.
The FIS can decide the gait mode to execute from the GRF pattern and the real data of the healthy
leg. In this work, experimental data available in [23] and [24] are used to validate the approach.
Two other PID controllers are used as secondary controllers for knee and ankle joints to correct
the prosthetic position discrepancies from the desired values due to disturbances like uneven
terrain [25].
Figure 5. Control diagram for the Knee-Ankle prosthesis
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Based on the real human healthy limb data and GRF measurements, the fuzzy controller must
predict which phase of the gait cycle the prosthesis is in and generate nominal torques ,d k and
,d A and reference trajectories for knee and ankle joints ,d k and ,d A . The FIS incorporates the
human-like reasoning style of fuzzy systems through the use of fuzzy sets and a linguistic model
consisting of a set of IF-THEN fuzzy rules. The rules of the Takagi-Sugeno FIS are expressed as:
l l
l 1 1 2 2
l l
3 3 4 4
1 1,0 1,1 1 1,2 2
2 2,0 2,1 1 2,2 2
3 3,0 3,1 1 3,2 2
4 4,0 4,1 1 4,2 2
R : IF x is Ph AND x is Ph
AND x is Ph AND x is Ph
THEN
y ( ) x x
y ( ) x x
y ( ) x x
y ( ) x x
l l l l
l l l l
l l l l
l l l l
x c c c
x c c c
x c c c
x c c c
(12)
where x1, x2, x3 and x4 are the FIS inputs (femur and tibia angles, vertical and horizontal ground
reaction forces), 1 ( )l
y x , 2 ( )l
y x , 3 ( )l
y x and 4 ( )l
y x represent first, second, third and fourth outputs
of the ith
rule corresponding to the torques and the angular positions of the prosthetic knee and
ankle joints, , , , , , , , , , , ,
1,0 1,1 1,2 2,0 2,1 2,2 3,0 3,1 3,2 4,0 4,1 4,2
l l l l l l l l l l l lc c c c c c c c c c c c are consequent parameters
of the first and second outputs respectively, for the lth
rule; and i
jphi is defined as the phase
fuzzy state i for the jth
input.
Using the training data to tune the controller, the output parameters can be achieved readily by
the Least Square (LS) optimization method assuming the shapes and parameters of all the input
fuzzy sets fixed ahead of time.
The inputs of the Takagi-Sugeno FIS are the inclination angles of the tibia and femur and the
horizontal and vertical GRF’s. Training data were selected from [19] for the walking gait cycle
and from [20] for the stairs ascent and descent cycles which are partitioned based on sub-phases
of the gait cycles of a healthy leg as shown in Fig.6, Fig.7 and Fig.8.
(a) Healthy femur and tibia inclination angles (b) Horizontal and vertical ground
reaction forces
Figure. 6: FIS inputs for walking gait.
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(a) Healthy femur and tibia inclination angles (b) Horizontal and vertical ground
reaction forces
Figure. 7: FIS inputs for stair ascent.
(a) Healthy femur and tibia inclination angles (b) Horizontal and vertical ground
reaction forces
Figure. 8: FIS inputs for stair descent.
4. SIMULATION RESULTS
The anthropometric parameters of the human segments which are function of the mass and the
length of the body were adopted from the anthropometric data given by [23] and shown in Fig.9
and Table.1. The PID parameters are achieved by online adjustments to enhance the process
performance.
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Figure. 9: Human lower limb segments lengths
Measure Shank thigh
Mass m1 = 0.0485 *m m2 = 0.1 *m
Moment of inertia I1 = m1 _ (0.302 * L1)2
I2 = m2 _ (0.302 * L2)2
Center of mass r1 = 0.433 *L1 r2 = 0.433 *L2
Table.1: Anthropometric data for the human lower body.
Comparison between FIS outputs and training data are illustrated in Fig.10, Fig.11, Fig.12 and
Fig.13. The FIS outputs achieved very closely the desired mapping data. The results proved that
adding GRF as inputs for the controller has enhanced the performance of the FIS.
(a) Walking (b) Stair descent
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(c) Stair ascent
Figure. 10: Takagi-Sugeno FIS first output vs. desired outputs for the different gait cycles.
(a) Walking (b) Stair descent
(c) Stair ascent
Figure. 11: Takagi-Sugeno FIS second output vs. desired outputs for the different gait cycles.
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(a) Walking (b) Stair descent
(c) Stair ascent
Figure. 12: Takagi-Sugeno FIS third output vs. desired outputs for the different gait cycles.
(a) Walking (b) Stair descent
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(c) Stair ascent
Figure. 13: Takagi-Sugeno FIS fourth output vs. desired outputs for the different gait cycles.
The performance of the controller is demonstrated through the closed-loop simulation and
depicted in Fig.14 and Fig.15 illustrating the evolution of the prosthetic knee and ankle angles
variations compared to real healthy leg joints angles for the different gait cycles. The developped
system is able to reproduce the real limb joint angles for the three types of gait assuring stability
and good mapping for reference trajectories.
(a) Walking (b) Stair descent
(c) Stair ascent
Figure. 14: Ankle angle variation for the different gait cycles.
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(a) Walking (b) Stair descent
(c) Stair ascent
Figure. 15: Knee angle variation for the different gait cycles.
The two secondary controllers corrected the prosthetic position discrepancies from the desired
values due to environmental disturbances.
5. CONCLUSION
In this paper, the variation of the GRF during gait cycle was used for the design of an adaptive
fuzzy controller for a dynamic model of active ankle-knee prosthesis. The main idea of the
proposed strategy was to use collected GRF’s from force platforms to generate the adequate gait
mode for the active prosthesis. A dynamical model for the human lower limb considering GRF’s
was established, using euler-lagrange equations, in order to simulate the human motion dynamics.
The model parameters were extracted from the anthropometric data of a healthy human body.
From the variation of GRF’s and healthy leg data, the controller can decide in which gait phase is
in and actuate the prosthetic joints with the appropriate torques.
Simulation results indicate that using GRF’s to train the FIS combined with femur and tibia
angles has enhanced the efficiency of the controller in tracking the real human lower limb
dynamic motions and generated prosthetic joint angles mimicking the real joint angles variations.
This behaviour was guaranteed for the three different activities (walking, stairs ascent and
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descent). The mechanical design of the prosthetic device and its clinical validation was not
investigated in this work and can be topic of further researches
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