Rate-dependent gait dynamic stability analysis for motor control estimation

Imran Mahmood, Uriel Martinez Hernandez, Abbas A. Dehghani-Sanij

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)
36 Downloads (Pure)

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.


Read More: https://www.worldscientific.com/doi/abs/10.1142/9789813149137_0054
Original languageEnglish
Title of host publication Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Clawar 2016
EditorsM.O. Tokhi, G.S. Virk
Place of PublicationLondon, UK
PublisherWorld Scientific
Pages454-463
Number of pages9
ISBN (Print)978-981-3149-12-0
DOIs
Publication statusPublished - 4 Aug 2016

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