Gait dynamic stability analysis and motor control prediction for varying terrain conditions

This work presents the gait dynamic stability modelling for different walking terrains adopted by the motor. The sensory-motor transitional gait assessment is difficult in clinical environment in case of disorders. The aim of present study was to model and analyse dynamic stability thresholds for ga...

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Vydané v:2016 11th France-Japan & 9th Europe-Asia Congress on Mechatronics (MECATRONICS) /17th International Conference on Research and Education in Mechatronics (REM) s. 290 - 295
Hlavní autori: Mahmood, Imran, Martinez-Hernandez, Uriel, Dehghani-Sanij, Abbas A.
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: IEEE 01.06.2016
Predmet:
dynamic
frequency domain
Frequency-domain analysis
gait
Legged locomotion
Load modeling
Loading
Mathematical model
ramp walk
stability
Stability criteria
transient
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Shrnutí:This work presents the gait dynamic stability modelling for different walking terrains adopted by the motor. The sensory-motor transitional gait assessment is difficult in clinical environment in case of disorders. The aim of present study was to model and analyse dynamic stability thresholds for gait transitional phases. Experimental data were collected from four healthy subjects while walking on a force platform placed at ramp and level ground walking tracks. 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 ramp and level ground walking were performed by analysis in time and frequency domains. Our investigation provided interesting results; 1) the overdamped motor output response acts as a compensator for instabilities and oscillations in unloading phase and initial contact, and 2) prediction of ramp ascend walking as the least stable gait than ramp descend for healthy subjects.
DOI:10.1109/MECATRONICS.2016.7547157