Mahmood, I, Martinez-Hernandez, U and Dehghani-Sanij, AA (2016) Rate-dependent gait dynamic stability analysis for motor control estimation. In: Tokhi, MO and Virk, GS, (eds.) Advances in Cooperative Robotics: Proceedings. CLAWAR 2016: 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 12-14 Sep 2016, London, UK. World Scientific , pp. 454-463. ISBN 978-981-3149-12-0
Abstract
This work presents the gait dynamic stability study for different walking speeds adopted by user intentions. Experimental data were collected from four healthy subjects while walking on a force platform at slow, normal and fast speed. The rate-dependent variations in the center of pressure (COP) and ground reaction forces (GRF) were modelled as motor output and input responses. Finite difference and non-linear regression algorithms were implemented to model gait transitions. Dynamic stability estimation for level ground walking was performed by analysis in time and frequency domains. Study of the COP velocity in loading phase showed that, the overdamped motor output response acts as a compensator for instabilities and oscillations in unloading phase and initial contact. Normal walking was predicted, from gait analysis in frequency domain, as the most stable gait for healthy subjects.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 by World Scientific Publishing Co. Pte. Ltd. This is an author produced version of a paper published in Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR 2016. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Funding Information: | Funder Grant number EPSRC EP/M026388/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Nov 2016 16:09 |
Last Modified: | 28 Feb 2024 14:10 |
Published Version: | http://www.worldscientific.com/worldscibooks/10.11... |
Status: | Published |
Publisher: | World Scientific |
Identification Number: | 10.1142/9789813149137_0054 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:102333 |