138 results on '"Double support phase"'
Search Results
2. Analysis and Optimization of Gait Cycle of 25-DOF NAO Robot Using Particle Swarm Optimization and Genetic Algorithms.
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Gupta, Pushpendra, Pratihar, Dilip Kumar, and Deb, Kalyanmoy
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PARTICLE swarm optimization ,HUMANOID robots ,DYNAMIC stability ,ROBOTS ,CONSTRAINED optimization ,MOBILE robots - Abstract
The gait cycle of 25-degree of freedom (DOF) humanoid robot, namely NAO robot, consists of single support phase (SSP) and double support phase (DSP). Both dynamic and stability analyses are carried out for this robot to determine its power consumption and dynamic stability margin, respectively. Constrained single-objective optimization problems are formulated for the SSP and DSP separately and solved using particle swarm optimization (PSO) and genetic algorithms (GA). A performance index, other than the fitness function, consisting of constraint values and maximum swing height, is also considered to compare PSO and GA-obtained optimal solutions. PSO is able to find the trajectories that offer higher swing height for nearly similar power consumption during SSP. A performance assessment of each algorithm based on the best fitness values in each generation across several runs is also carried out. These values are compared using the Wilcoxon rank-sum test, and PSO is found to be statistically better than GA. The optimal solutions from the simulations are tested using the Webots simulator to validate their efficacy on stability. Moreover, an investigation of the influence of gait parameters on power consumption during SSP and DSP reveals that the humanoid robot with a higher hip height, lower swing height, and slow pace consumes less power. The methodology developed in this is generic and can be easily extended to other robots. [ABSTRACT FROM AUTHOR]
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- 2024
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3. Investigation on Variable Impedance Control for Modulating Assistance in Walking Strategies with the AUTONOMYO Exoskeleton
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Ortlieb, A., Lichard, P., Dzeladini, F., Baud, R., Bleuler, H., Ijspeert, A., Bouri, M., Guglielmelli, Eugenio, Series Editor, Carrozza, Maria Chiara, editor, Micera, Silvestro, editor, and Pons, José L., editor
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- 2019
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4. Biped dynamic walker modeling and control for underactuated gait cycle
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Yadav, Krishna Prakash and Kumar, R. Prasanth
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- 2022
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5. Towards Exoskeletons with Balance Capacities
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van der Kooij, Herman, van Asseldonk, Edwin H. F., Vlutters, Mark, Guglielmelli, Eugenio, Series editor, González-Vargas, José, editor, Ibáñez, Jaime, editor, Contreras-Vidal, Jose L., editor, van der Kooij, Herman, editor, and Pons, José Luis, editor
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- 2017
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6. Sagittal Position Analysis of Gait Cycle for a Five Link Biped Robot
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Singh, Ramanpreet, Chaudhary, Himanshu, Singh, Amit Kumar, Mandal, Dipak Kumar, editor, and Syan, Chanan Singh, editor
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- 2016
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7. Balanced Walking with Capture Steps
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Missura, Marcell, Behnke, Sven, Goebel, Randy, Series editor, Tanaka, Yuzuru, Series editor, Wahlster, Wolfgang, Series editor, Bianchi, Reinaldo A. C., editor, Akin, H. Levent, editor, Ramamoorthy, Subramanian, editor, and Sugiura, Komei, editor
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- 2015
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8. Analysing Human Walking Using Dynamic Optimisation
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Tan, Meiyi, Jennings, Leslie S., Wang, Song, Xu, Honglei, editor, Wang, Song, editor, and Wu, Soon-Yi, editor
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- 2015
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9. Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model
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Long Li, Zhongqu Xie, Xiang Luo, and Juanjuan Li
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linear inverted pendulum model ,linear pendulum model ,single support phase ,double support phase ,biped robots ,trajectory planning ,Chemical technology ,TP1-1185 - Abstract
Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the moment of leg exchange, leading to a negative impact on walking stability. If the DSP is added to the walking cycle, the acceleration of the CoM will be smoother and the walking stability of the biped will be improved. In this paper, a linear pendulum model (LPM) for the DSP is proposed, which is similar to LIPM for the SSP. LPM has similar characteristics to LIPM. The dynamic equation of LPM is also linear, and its analytical solution can be obtained. This study also proposes different trajectory-planning methods for different situations, such as periodic walking, adjusting walking speed, disturbed state recovery, and walking terrain-blind. These methods have less computation and can plan trajectory in real time. Simulation results verify the effectiveness of proposed methods and that the biped robot can walk stably and flexibly when combining LIPM and LPM.
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- 2021
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10. Quasi-straightened Knee Walking for the Humanoid Robot
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Li, Zhibin, Vanderborght, Bram, Tsagarakis, Nikos G., Caldwell, Darwin G., Mombaur, Katja, editor, and Berns, Karsten, editor
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- 2013
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11. Postural Equilibrium in Two-Legged Locomotion
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Zielińska, Teresa and Kozłowski, Krzysztof, editor
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- 2012
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12. Muscle activation strategies of people with early-stage Parkinson’s during walking
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Sridhar P. Arjunan, Dinesh Kumar, Sanjay Raghav, and Sana M Keloth
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medicine.medical_specialty ,Neurology ,Parkinson's disease ,Health Informatics ,Double support phase ,Neurosciences. Biological psychiatry. Neuropsychiatry ,Walking ,Physical medicine and rehabilitation ,medicine ,Humans ,Young adult ,Muscle, Skeletal ,Gait ,Gait Disorders, Neurologic ,Aged ,Gait Disturbance ,business.industry ,Research ,Rehabilitation ,Parkinson Disease ,Muscle activation ,medicine.disease ,Gait analysis ,Parkinson’s disease ,Wearable sensors ,business ,human activities ,RC321-571 - Abstract
Introduction Some people with Parkinson’s disease (PD) frequently have an unsteady gait with shuffling, reduced strength, and increased rigidity. This study has investigated the difference in the neuromuscular strategies of people with early-stage PD, healthy older adults (HOA) and healthy young adult (HYA) during short-distance walking. Method Surface electromyogram (sEMG) was recorded from tibialis anterior (TA) and medial gastrocnemius (MG) muscles along with the acceleration data from the lower leg from 72 subjects—24 people with early-stage PD, 24 HOA and 24 HYA during short-distance walking on a level surface using wearable sensors. Results There was a significant increase in the co-activation, a reduction in the TA modulation and an increase in the TA-MG lateral asymmetry among the people with PD during a level, straight-line walking. For people with PD, the gait impairment scale was low with an average postural instability and gait disturbance (PIGD) score = 5.29 out of a maximum score of 20. Investigating the single and double support phases of the gait revealed that while the muscle activity and co-activation index (CI) of controls modulated over the gait cycle, this was highly diminished for people with PD. The biggest difference between CI of controls and people with PD was during the double support phase of gait. Discussion The study has shown that people with early-stage PD have high asymmetry, reduced modulation, and higher co-activation. They have reduced muscle activity, ability to inhibit antagonist, and modulate their muscle activities. This has the potential for diagnosis and regular assessment of people with PD to detect gait impairments using wearable sensors.
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- 2021
13. Optimization Design of a Stewart Platform Type Leg Mechanism for Biped Walking Vehicle
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Hashimoto, Kenji, Sugahara, Yusuke, Lim, Hun-ok, Takanishi, Atsuo, Siciliano, Bruno, editor, Khatib, Oussama, editor, Groen, Frans, editor, Kaneko, Makoto, editor, and Nakamura, Yoshihiko, editor
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- 2011
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14. The Online Gait Measurement for Characteristic Gait Animation Synthesis
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Makihara, Yasushi, Okumura, Mayu, Yagi, Yasushi, Morishima, Shigeo, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, and Shumaker, Randall, editor
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- 2011
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15. Parameter Optimization of a Signal-Based Omni-Directional Biped Locomotion Using Evolutionary Strategies
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Gökçe, Bariş, Akin, H. Levent, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Ruiz-del-Solar, Javier, editor, Chown, Eric, editor, and Plöger, Paul G., editor
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- 2011
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16. General Conclusions and Future Work
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Vanderborght, Bram, Siciliano, Bruno, editor, Khatib, Oussama, editor, Groen, Frans, editor, and Vanderborght, Bram
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- 2010
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17. That Which Does Not Stabilize, Will Only Make Us Stronger
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Kazerooni, H., Steger, R., Siciliano, Bruno, editor, Khatib, Oussama, editor, Groen, Frans, editor, Thrun, Sebastian, editor, Brooks, Rodney, editor, and Durrant-Whyte, Hugh, editor
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- 2007
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18. Higher Nervous Control of Quadrupedal vs Bipedal Locomotion in Non-human Primates; Common and Specific Properties
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Mori, Shigemi, Mori, Futoshi, Nakajima, Katsumi, Kimura, Hiroshi, editor, Tsuchiya, Kazuo, editor, Ishiguro, Akio, editor, and Witte, Hartmut, editor
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- 2006
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19. Impact Shaping for Double Support Walk: From the Rocking Block to the Biped Robot
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Bourgeot, J. -M., Canudas-de-Wit, C., Brogliato, B., Tokhi, M. O., editor, Virk, G. S., editor, and Hossain, M. A., editor
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- 2006
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20. Gait Synthesis Based on FWN and PD Controller for a Five-Link Biped Robot
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Liu, Pengfei, Han, Jiuqiang, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Gelbukh, Alexander, editor, de Albornoz, Álvaro, editor, and Terashima-Marín, Hugo, editor
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- 2005
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21. Trajectory Planning for the Walking Biped 'Lucy'
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Vermeulen, Jimmy, Lefeber, Dirk, Verrelst, Björn, Vanderborght, Bram, Armada, Manuel A., and de González Santos, Pablo
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- 2005
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22. Distributed Control of Gait for a Humanoid Robot
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Wyeth, Gordon, Kee, Damien, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Polani, Daniel, editor, Browning, Brett, editor, Bonarini, Andrea, editor, and Yoshida, Kazuo, editor
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- 2004
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23. Effect of haptic sensory input through a fluttering cloth on tandem gait performance.
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Oshita, Kazushige and Yano, Sumio
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TOUCH , *GAIT in humans , *HUMAN locomotion , *PERFORMANCE evaluation , *PARAMETER estimation , *WALKING , *CLOTHING & dress , *POSTURAL balance , *MENTAL orientation , *PROMPTS (Psychology) - Abstract
This study investigated the effects of haptic sensory input through a fluttering cloth on balance control during locomotion. Twenty-one healthy men performed a tandem gait test for 4m with their eyes closed under two different conditions: (1) wearing only half or short tights (HT-condition), or (2) wearing a fluttering cloth that was wrapped around the waist and extended to the lower leg (CLOTH-condition). Participants performed two trials with a 3-min rest period. The first trial involved the HT-condition, whereas the second trial involved either the CLOTH-condition (n=11), or the HT-condition again (n=10). The gait time and double support phase were significantly lower in the CLOTH-condition than in the HT-condition, and the relationship between the change in these two parameters was significant (r=0.74, P<0.01). Further, the relationship between the change in gait time and subjective walking sensation (evaluated through a visual-analogue scale) was significant in the CLOTH-condition (r=0.82, P<0.01). Therefore, if the participant demonstrated improved gait performance while wearing a fluttering cloth, it was accompanied by an improvement in subjective walking sensation. These results suggest that wearing a fluttering cloth can provide a haptic sensory cue to enhance the individuals' perception of their body orientation, which contributes to better balance control during locomotion. Therefore, locomotive ability may improve depending on the shape of the garment. [ABSTRACT FROM AUTHOR]
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- 2017
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24. Temporal analysis of elite men’s discus throwing technique
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Vassilios Panoutsakopoulos and Iraklis A. Kollias
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Track and field throws ,Official throwing distance ,Single support phase ,Double support phase ,Biomechanics ,Sports medicine ,RC1200-1245 - Abstract
The purpose of this study was to investigate the relationship between the duration of the throw and the official throwing distance in a group of elite male discus throwers. The time analysis of the technique phases (i.e. preparation, entry, flight, transition, delivery, release) of the participants in a top international athletics competition was used in order to conduct the study. Data were retrieved after recording seven right-handed throwers (age: 28.8 ± 4.1 years, body height: 1.94 ± 0.09 m, body mass: 119.4 ± 11.6 kg) with a Casio EX-FX1 (Casio Computer Co. Ltd) digital video camera (sampling frequency: 300fps) and analyzing the captured throws with the V1 Home 2.02.54 software (Interactive Frontiers Inc.). The relationships among the duration of the technique phases of the throw and the official throwing distance were examined with Pearson Correlation Analysis using the SPSS 10.0.1 software (SPSS Inc.). Results revealed that no significant correlation (p > 0.05) existed among the average official throwing distance (63.04 ± 6.09 m) and the duration of the discus throw or the duration of each technique phase. The temporal and correlation analyses were in agreement with previous studies. The dominant style of release was the release with no support on the ground. The majority of the throwers spent a larger percentage of the delivery turn (transition, delivery and release phases) being in single than in double support. It was noted that a short duration of the transition phase, combined with lower values of the ratio of the time spent for the starting turn compared to the time spent for the delivery turn might be favorable regarding the achievement of a larger throwing distance.
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- 2012
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25. Effects of Gait Inducing Assist for Patients with Parkinson’s Disease on Double Support Phase During Gait
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Tomohiro Shibata, Junichiro Shiraishi, Yuichi Kurita, and Ai Higuchi
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0209 industrial biotechnology ,medicine.medical_specialty ,Parkinson's disease ,General Computer Science ,business.industry ,Double support phase ,02 engineering and technology ,medicine.disease ,03 medical and health sciences ,020901 industrial engineering & automation ,0302 clinical medicine ,Physical medicine and rehabilitation ,Gait (human) ,medicine ,Electrical and Electronic Engineering ,Assistive device ,business ,human activities ,030217 neurology & neurosurgery - Abstract
Parkinson’s disease (PD) is a common progressive neurodegenerative disease that affects a wide range of motor and non-motor symptoms. Freezing of gait (FOG) is such a motor symptom of PD that frequently results in falling, and almost half of PD patients suffer from FOG. In this study, we investigated the effectiveness of a robotic assistance system called UPS-PD, which was developed to suppress FOG. The double limb support phase (DLS) in a 10-m straight-line walking task, the gait time and step counts were measured in five PD subjects. In addition, the safety of the UPS-PD in a healthy person was investigated using OpenSim, and the DLS parameters in four healthy elderly subjects were evaluated. In the experiment with the PD patients, the DLS parameters of two subjects showed an improvement. Furthermore, the step length of one subject and the step length and walking speed of the other subject were improved. Moreover, there were no problems in terms of instability of gait in both the PD patients. The UPS-PD did not adversely affect the gait of healthy elderly subjects and the walking of a healthy subject model in the simulation. Therefore, the UPS-PD is considered to be a useful device for improving walking in PD patients.
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- 2020
26. What Is the Relationship Between Orthostatic Blood Pressure and Spatiotemporal Gait in Later Life?
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Rose Anne Kenny, Robert Briggs, Louise Newman, Daniel Carey, Orna A. Donoghue, and Matthew D. L. O’Connell
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Male ,Aging ,Longitudinal study ,medicine.medical_specialty ,Diastole ,Blood Pressure ,Double support phase ,030204 cardiovascular system & hematology ,Cohort Studies ,Hypotension, Orthostatic ,03 medical and health sciences ,Orthostatic vital signs ,0302 clinical medicine ,Physical medicine and rehabilitation ,Risk Factors ,Linear regression ,Humans ,Medicine ,Longitudinal Studies ,Geriatric Assessment ,Aged ,business.industry ,Middle Aged ,Confidence interval ,Walking Speed ,Cross-Sectional Studies ,Blood pressure ,Female ,Orthostatic blood pressure ,Independent Living ,Geriatrics and Gerontology ,business ,Ireland ,030217 neurology & neurosurgery - Abstract
Background/objectives Little work to date has examined the relationship between gait performance and blood pressure (BP) recovery after standing in later life. The aim of this study is to clarify the association of orthostatic BP with spatiotemporal gait parameters in a large cohort of older people. Design Cross-sectional study using multilevel linear regression to ascertain the difference in orthostatic BP patterns across tertiles of gait speed, and linear regression to analyze the association of orthostatic hypotension 30 seconds after standing (OH-30) with specific gait characteristics. Setting The Irish Longitudinal Study on Ageing. Participants A total of 4311 community-dwelling adults, aged 50 years or older (mean age = 62.2 years; 54% female), one fifth (n = 791) of whom had OH-30. Measurements Continuous orthostatic BP was measured during active stand. OH-30 was defined as a drop in systolic BP of 20 mm Hg or more or drop in diastolic BP of 10 mm Hg or more at 30 seconds. Spatiotemporal gait was assessed using the GAITRite system, reporting gait speed, step length, step width, and double support time in both single and dual (cognitive task) conditions. Results OH-30 was associated with slower gait speed (β = -3.01; 95% confidence interval [CI] = -4.46 to -1.56) and shorter step length (β = -.73; 95% CI = -1.29 to -.16) in fully adjusted models during single task walking. Similar findings were observed in dual task conditions, in addition to increased double support phase (β = .45; 95% CI = .02-.88). Multilevel models demonstrated that participants in the slowest tertile for gait speed had a significantly larger drop in systolic BP poststanding compared to those with faster gait speeds in single and dual task conditions. Conclusions This study demonstrates that slower recovery of BP after standing is independently associated with poorer gait performance in community-dwelling older adults. Given the adverse outcomes independently associated with OH and gait problems in later life, increasing awareness that they commonly coexist is important, particularly as both are potentially modifiable. J Am Geriatr Soc 68:1286-1292, 2020.
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- 2020
27. CYCLOIDAL GAIT WITH DOUBLE SUPPORT PHASE FOR THE NAO HUMANOID ROBOT
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Jesus E. Fierro P., J. Alfonso Pamanes G., and Victor De-Leon-Gomez
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0209 industrial biotechnology ,Computer science ,General Engineering ,Stability (learning theory) ,General Physics and Astronomy ,02 engineering and technology ,stability ,Revolute joint ,gait ,Nao humanoid robot ,cycloidal walking pattern ,020901 industrial engineering & automation ,Gait (human) ,Control theory ,Cycloid ,double support phase ,0202 electrical engineering, electronic engineering, information engineering ,single support phase ,Robot ,020201 artificial intelligence & image processing ,Point (geometry) ,Actuator ,Humanoid robot - Abstract
The commercialNaohumanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion ofzero-moment point(ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.
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- 2019
28. Differences in walking-to-turning characteristics between older adult fallers and nonfallers: a prospective and observational study using wearable inertial sensors
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Pei-Jung Liang, Ting-Ting Yeh, and Shu-Chun Lee
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medicine.medical_specialty ,business.industry ,Rehabilitation ,Physical Therapy, Sports Therapy and Rehabilitation ,Double support phase ,Fall risk ,Walking ,Swing ,Gait cycle ,Wearable inertial sensors ,Gait ,Wearable Electronic Devices ,Physical medicine and rehabilitation ,Walking velocity ,Medicine ,Humans ,Observational study ,Accidental Falls ,Prospective Studies ,business ,human activities ,Aged - Abstract
Wearable inertial sensors have gradually been used as an objective technology for biomechanical assessments of both healthy and pathological movement patterns. This paper used foot-worn sensors for characterizing the spatiotemporal characteristics of walking and turning between older fallers and nonfallers. Thirty community-dwelling older fallers and 30 older nonfallers performed 10-m straight walking, turned 180° around a cone, and then walked 10-m back to the starting point. Specific algorithms were used to measure spatiotemporal gait (double support phase of the gait cycle, swing width, and minimal toe clearance) and turning parameters (turn duration and turn steps) using two foot-worn Physiolog inertial sensor system. The researchers directly exported data as reported by the system. Our findings indicated that older fallers showed 26.58% longer time (P = 0.036) and 13.21% more steps (P = 0.038) compared to nonfallers during turning. However, both groups decreased their walking velocity (both P < 0.001), increased double support (both P = 0.001), and increased the swing width (both P = 0.001) during the transition from walking to turning. The older nonfallers additionally increased toe clearance (P = 0.001). Compared with the fallers, the older nonfallers showed a larger change in the swing width (P = 0.025) and toe clearance (P = 0.025) in walking to turning. Older fallers may adopt a cautionary strategy while turning to reduce the risk of falls. Wearable sensors can provide the temporospatial characteristics of turning and reveal significant differences by fall status, indicating the potential of turning measures as possible markers for identifying those at fall risk.
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- 2021
29. Development of a Biped Walking Robot Adapting to the Real World : Realization of Dynamic Biped Walking Adapting to the Humans’ Living Floor
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Yamaguchi, J., Takanishi, A., Kaliszky, Sandor, editor, Sayir, Mahir, editor, Schneider, Wilhelm, editor, Bianchi, Giovanni, editor, Tasso, Carlo, editor, Morecki, Adam, editor, and Rzymkowski, Cezary, editor
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- 1997
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30. Biped Locomotion by FNS: Control Issues and an ANN Implementation
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Gideon, F., Dario, Paolo, editor, Sandini, Giulio, editor, and Aebischer, Patrick, editor
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- 1993
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31. Extended Timed Up & Go test: Is walking forward and returning back to the chair equivalent gait?
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Slavka Viteckova, Patrik Kutilek, Radim Krupicka, Evžen Růžička, Vaclav Cejka, Petr Dusek, and Zoltan Szabo
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Male ,medicine.medical_specialty ,Time Factors ,Computer science ,0206 medical engineering ,Biomedical Engineering ,Biophysics ,STRIDE ,Double support phase ,Walking ,02 engineering and technology ,03 medical and health sciences ,Spatio-Temporal Analysis ,0302 clinical medicine ,Physical medicine and rehabilitation ,medicine ,Humans ,Orthopedics and Sports Medicine ,Aged ,Rehabilitation ,Significant difference ,Healthy subjects ,Parkinson Disease ,Middle Aged ,Gait cycle ,020601 biomedical engineering ,Gait ,Test (assessment) ,Case-Control Studies ,Gait analysis ,Female ,Gait Analysis ,030217 neurology & neurosurgery - Abstract
The Timed Up & Go test (TUG) is functional test and is a part of routine clinical examinations. The instrumented Timed Up & Go test enables its segmentation to sub-tasks: sit-to-stand, walking forward, turning, walking back, stand-to-sit, and consequently the computation of task-specific parameters and sub-tasks separately. However, there are no data on whether walking forward parameters differ from the walking back parameters. This study tested the differences between walking forward and walking back in the TUG extended to 10 m for 17 spatio-temporal gait parameters. All parameters were obtained from a GAITRite® pressure sensitive walkway (CIR Systems, Inc.). The differences were assessed for healthy controls and Parkinson's disease (PD) patients. None of investigated parameters exhibited a difference between both gait subtasks for healthy subjects group. Five parameters of interest, namely velocity, step length, stride length, stride velocity, and the proportion of the double support phase with respect to gait cycle duration, showed a statistically significant difference between gait for walking forward and walking back in PD patients. Therefore, we recommend a separate assessment for walking forward and walking back rather than averaging both gaits together.
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- 2019
32. Characteristics of Gait Variability in the Elderly While Walking on a Treadmill with Gait Speed Variation
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Myeounggon Lee, Bohyun Kim, Hwayoung Park, Changhong Youm, and Byungjoo Noh
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Male ,gait stability ,030506 rehabilitation ,medicine.medical_specialty ,Health, Toxicology and Mutagenesis ,Coefficient of variation ,Double support phase ,Walking ,Article ,gait variability ,03 medical and health sciences ,0302 clinical medicine ,Gait (human) ,Physical medicine and rehabilitation ,Age groups ,medicine ,coefficient of variance ,Humans ,Treadmill ,Gait ,Aged ,elderly individuals ,inertial measurement unit ,spatiotemporal characteristics ,Public Health, Environmental and Occupational Health ,Stride length ,Middle Aged ,Gait speed ,Shoes ,Walking Speed ,Variation (linguistics) ,Exercise Test ,Medicine ,Female ,0305 other medical science ,Psychology ,human activities ,030217 neurology & neurosurgery - Abstract
Gait variability (GV), which is a variable for predicting mobility issues and risk of falling in elderly people, is defined as the fluctuation in spatiotemporal characteristics from one step to the next in walking. The goal of this study was to analyze the age- and sex-related spatiotemporal variability characteristics of elderly individuals using the measurements taken while walking on a treadmill for one minute based on gait speed variation. Gait testing was conducted on 225 healthy male and female individuals aged 60–79 years who were able to walk and move on their own and, specifically, walk on a treadmill for one minute. The test was performed at three speed conditions—the preferred speed of the participant, 20% higher than the preferred speed, and 20% lower than the preferred speed—and data were recorded using shoe-type data loggers. The different age groups and sex could be distinguished using the coefficient of variance (CV) of the double support phase and gait asymmetry (GA) at the preferred speed, and CVs of stride length and stance phase at faster speed. The results indicated that the values of GV obtained from the test were used to determine the variation in gait characteristics of elderly individuals.
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- 2021
33. Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model
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Zhongqu Xie, Juanjuan Li, Long Li, and Xiang Luo
- Subjects
linear inverted pendulum model ,0209 industrial biotechnology ,Computer science ,02 engineering and technology ,lcsh:Chemical technology ,Biochemistry ,Article ,Analytical Chemistry ,Inverted pendulum ,Acceleration ,020901 industrial engineering & automation ,Control theory ,double support phase ,0202 electrical engineering, electronic engineering, information engineering ,single support phase ,biped robots ,lcsh:TP1-1185 ,Electrical and Electronic Engineering ,Instrumentation ,Pendulum ,Atomic and Molecular Physics, and Optics ,Moment (mathematics) ,Preferred walking speed ,linear pendulum model ,Trajectory ,Robot ,020201 artificial intelligence & image processing ,trajectory planning - Abstract
Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the moment of leg exchange, leading to a negative impact on walking stability. If the DSP is added to the walking cycle, the acceleration of the CoM will be smoother and the walking stability of the biped will be improved. In this paper, a linear pendulum model (LPM) for the DSP is proposed, which is similar to LIPM for the SSP. LPM has similar characteristics to LIPM. The dynamic equation of LPM is also linear, and its analytical solution can be obtained. This study also proposes different trajectory-planning methods for different situations, such as periodic walking, adjusting walking speed, disturbed state recovery, and walking terrain-blind. These methods have less computation and can plan trajectory in real time. Simulation results verify the effectiveness of proposed methods and that the biped robot can walk stably and flexibly when combining LIPM and LPM.
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- 2021
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34. Muscle Co-Activation around the Knee during Different Walking Speeds in Healthy Females
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Pedro Fonseca, Abdel-Rahman Akl, Pedro Gonçalves, João Paulo Vilas-Boas, Filipe Conceição, and Amr Hassan
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Adult ,musculoskeletal diseases ,medicine.medical_specialty ,Adolescent ,Knee Joint ,Single support ,injury prevention ,High variability ,knee ,Double support phase ,Walking ,lcsh:Chemical technology ,Biochemistry ,Article ,biomechanics ,Analytical Chemistry ,Young Adult ,03 medical and health sciences ,0302 clinical medicine ,Physical medicine and rehabilitation ,EMG ,Double support ,medicine ,Humans ,lcsh:TP1-1185 ,Electrical and Electronic Engineering ,Muscle, Skeletal ,Gait ,Instrumentation ,Electromyography ,business.industry ,Biomechanics ,Thigh muscle ,030229 sport sciences ,Atomic and Molecular Physics, and Optics ,Biomechanical Phenomena ,Walking Speed ,Preferred walking speed ,agonist and antagonist muscle activation ,Female ,sense organs ,business ,Co activation ,human activities ,030217 neurology & neurosurgery - Abstract
The purpose of this study was to examine the changes in co-activation around the knee joint during different walking speeds in healthy females using the co-activation index. Ten healthy females (age: 21.20 ±, 7.21 years, height: 164.00 ±, 4.00 cm, mass: 60.60 ±, 4.99 kg) participated in this study and performed three walking speeds (slow, normal, and fast). A Qualisys 11-camera motion analysis system sampling at a frequency of 200 Hz was synchronized with a Trigno EMG Wireless system operating at a 2000 Hz sampling frequency. A significant decrease in the co-activation index of thigh muscles was observed between the slow and fast, and between the normal and fast, walking speeds during all walking phases. A non-significant difference was observed between the slow and normal walking speeds during most walking phases, except the second double support phase, during which the difference was significant. A negative relationship was found between walking speed and the co-activation index of thigh muscles in all speeds during walking phases: first double support (r = &minus, 0.3386, p <, 0.001), single support (r = &minus, 0.2144, p <, 0.01), second double support (r = &minus, 0.4949, p <, 0.001), and Swing (r = &minus, 0.1639, p <, 0.05). In conclusion, the results indicated high variability of thigh muscle co-activation in healthy females during the different walking speeds, and a decrease in the co-activation of the thigh muscles with the increase of speed.
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- 2021
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35. Low composite functional movement screen score associated with decline of gait stability in young adults
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Byungjoo Noh, Myeounggon Lee, Changhong Youm, and Hwayoung Park
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030506 rehabilitation ,medicine.medical_specialty ,Functional movement screen ,Double support phase ,Nursing ,Walking speed ,General Biochemistry, Genetics and Molecular Biology ,03 medical and health sciences ,0302 clinical medicine ,Physical medicine and rehabilitation ,Gait (human) ,medicine ,Young adult ,Treadmill ,Gait ,Functional movement ,business.industry ,General Neuroscience ,Gait variability ,030229 sport sciences ,General Medicine ,Kinesiology ,Preferred walking speed ,Dynamic stability ,Gait asymmetry ,Inertial measurement unit ,Otorhinolaryngology ,Gait analysis ,Medicine ,0305 other medical science ,General Agricultural and Biological Sciences ,business ,human activities - Abstract
Background The functional movement screen (FMS)TM is a screening tool used to evaluate fundamental motor function. A score of 14 for the composite total FMS score (TFMS) is generally used as the cut-off point (≤14/21). In addition, gait analysis is used to evaluate fundamental motor function in humans. Thus, evaluating the fundamental motor function using the FMSTM test and gait analysis at various speeds can provide further understanding of any decline in gait stability. In this study, we aimed to investigate the association between gait ability and fundamental movement patterns in young adults according to the cut-off point. Methods A total of 439 participants (male: 203, female: 236) successfully completed the FMS test and a 1 min treadmill test; the participants were classified into two groups: low TFMS (≤14) and high TFMS (>14). Results The low TFMS group exhibited slower and shortened walking patterns and worsen gait variability than the high TFMS group. The coefficient of variance (CV) for the double support phase at a faster speed (male) and the stride length at a slower speed (female) were classifiers between the two groups. In addition, the low TFMS group demonstrated insufficient gait adaptation at the preferred and faster speeds based on the CV of the double support phase and gait asymmetry. Lower TFMS is associated with a decline in gait ability. Therefore, participants with a lower TFMS and poor gait ability may require intervention programs to prevent risk of future injury and to enhance motor function.
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- 2021
36. Performance satisfaction in Midget, a thruster-assisted bipedal robot
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Pravin Dangol, Alireza Ramezani, and Nader Jalili
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Filter (video) ,Control theory ,Computer science ,Periodic orbits ,Robot ,Leverage (statistics) ,Double support phase ,Focus (optics) ,Performance satisfaction ,Envelope (motion) - Abstract
We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the desired joint trajectories to satisfy the performance being sought. In doing this, we will devise an intermediary filter based on the emerging idea of reference governors. Since these modifications and impact events lead to deviations from the desired periodic orbits, we will guarantee hybrid invariance in a robust fashion by applying predictive schemes within a short time envelope during the double support phase of a gait cycle. To achieve the hybrid invariance, we will leverage the unique features in our robot, i.e., the thruster.
- Published
- 2020
37. The effect of horizontal forces from a Smart Walker on gait and perceived exertion
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Seiji Saito, Wen Liang Yeoh, Ping Yeap Loh, Satoshi Muraki, and Jeewon Choi
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Electric motor ,030506 rehabilitation ,medicine.medical_specialty ,Computer science ,Physical Exertion ,Physical Therapy, Sports Therapy and Rehabilitation ,Double support phase ,Perceived exertion ,Walking ,Walkers ,03 medical and health sciences ,0302 clinical medicine ,Physical medicine and rehabilitation ,Gait (human) ,Smart walker ,medicine ,Humans ,Exertion ,Gait ,Rehabilitation ,Walking Speed ,Preferred walking speed ,0305 other medical science ,Cadence ,human activities ,030217 neurology & neurosurgery - Abstract
Increasingly, electric motors are being incorporated into wheeled walkers to implement various smart features to better assist their users physically. These modified walkers, known as Smart Walkers, use their electric motors to generate horizontal forces that can be used to reduce the physical load for walking, prevent falls and provide navigation support. However, these forces can also alter gait and may inadvertently increase the exertion of the users. This study aims to describe the effects of assistive and resistive horizontal forces (from -18.47 N to 27.70 N) from a Smart Walker on gait and perceived exertion of its users during steady-state walking. Self-selected comfortable walking speed, cadence, stride length, double support phase and ratings of perceived exertion (RPE) were significantly affected and different effects were found for resistive force, relatively low assistive force and high assistive force. With increasing force from -18.47 N to 0 N, RPE decreased and the users walked with lower double support time. From 0 N to 9.23 N, RPE continued to decrease to its lowest point while gait parameters remained constant. Further increasing force up to 27.70 N increased RPE and led to the users to choose to walk at higher speeds. This study demonstrates that users adapt their gait significantly to the forces applied and relatively high constant forces, whether assistive or resistive, will increase perceived exertion. Hence, these need to be carefully considered when developing Smart Walkers in order to provide safe and effective support to its users.
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- 2020
38. Synergies in the ground reaction forces and moments during double support in curb negotiation in young and older adults
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Satyajit Ambike, Ashwini Kulkarni, Shirley Rietdyk, Fabio Augusto Barbieri, Chuyi Cui, Purdue University, and Universidade Estadual Paulista (Unesp)
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Prioritization ,Angular momentum ,Aging ,0206 medical engineering ,Biomedical Engineering ,Biophysics ,Double support phase ,02 engineering and technology ,Uncontrolled manifold analysis ,03 medical and health sciences ,0302 clinical medicine ,Control theory ,Double support ,Orthopedics and Sports Medicine ,Healthy aging ,Ground reaction force ,Adaptive gait ,Gait ,Postural Balance ,Mathematics ,Foot ,Negotiating ,Rehabilitation ,020601 biomedical engineering ,Biomechanical Phenomena ,030217 neurology & neurosurgery ,Locomotion ,Resultant force - Abstract
Made available in DSpace on 2020-12-12T02:40:59Z (GMT). No. of bitstreams: 0 Previous issue date: 2020-06-09 Falls that occur while negotiating steps are a leading cause of death in older adults. Although recent efforts have improved understanding of the mechanics and control of stepping behaviors, the double support phase during stepping is understudied. Therefore, we quantified the stability of the resultant forces and moments acting on the body during this phase. These quantities determine the movement of the body, and therefore, their stability is essential for successful stepping behavior. We measured the ground reaction variables (GRVs) under both feet as healthy young (n = 10) and older adults (n = 10) stepped up and down a curb. We employed the uncontrolled manifold method to evaluate the hypotheses that the GRVs covary to stabilize the resultant force and moment in the three coordinate directions. Robust stabilization of the resultant forces and moments was observed while stepping up. However, while stepping down, the stability of the resultant moment was prioritized over that of the resultant forces in the vertical and the anterior-posterior directions, and the stability of the resultant medio-lateral force was prioritized over that of the resultant anterior-posterior force. The salience of stabilizing whole-body angular momentum and medio-lateral motion during locomotion is well known, but their prioritization during adaptive gait is a novel result and is possibly related to the higher likelihood of falling during descent (versus ascent). Finally, contrary to our expectations, we observed no age differences in our stability indices, indicating that healthy aging does not diminish the stability of the resultant forces and moments. Department of Health and Kinesiology Purdue University Center on Aging and the Life Course Purdue University Human Movement Research Laboratory (MOVI-LAB) Department of Physical Education School of Sciences São Paulo State University (UNESP) Human Movement Research Laboratory (MOVI-LAB) Department of Physical Education School of Sciences São Paulo State University (UNESP)
- Published
- 2020
39. 3D visual cueing shortens the double support phase of the gait cycle in patients with advanced Parkinson's disease treated with DBS of the STN
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David Kemlink, Jan Rusz, Robert Jech, Hana Brožová, Eva Miletínová, Kamila Poláková, and Evžen Růžička
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Male ,Visual perception ,Parkinson's disease ,Physiology ,Vision ,Deep Brain Stimulation ,medicine.medical_treatment ,Social Sciences ,Double support phase ,Walking ,Biochemistry ,Levodopa ,Medical Conditions ,Gait (human) ,Surveys and Questionnaires ,Medicine and Health Sciences ,Psychology ,Gait ,Brain Mapping ,Movement Disorders ,Multidisciplinary ,Drugs ,Parkinson Disease ,Neurodegenerative Diseases ,Neurochemistry ,Middle Aged ,Electrophysiology ,Treatment Outcome ,Bioassays and Physiological Analysis ,surgical procedures, operative ,Neurology ,Brain Electrophysiology ,Medicine ,Female ,Sensory Perception ,Cues ,Neurochemicals ,Gait Analysis ,therapeutics ,Research Article ,medicine.medical_specialty ,Deep brain stimulation ,Science ,Neurophysiology ,Research and Analysis Methods ,Sensory Cues ,Physical medicine and rehabilitation ,Double-Blind Method ,Subthalamic Nucleus ,medicine ,Humans ,In patient ,Gait Disorders, Neurologic ,Aged ,Pharmacology ,Biological Locomotion ,Gait Disturbance ,business.industry ,Electrophysiological Techniques ,Cognitive Psychology ,Biology and Life Sciences ,medicine.disease ,nervous system diseases ,Preferred walking speed ,nervous system ,Cognitive Science ,Perception ,business ,human activities ,Deep-Brain Stimulation ,Dopaminergics ,Neuroscience - Abstract
Background Gait disturbances have emerged as some of the main therapeutic concerns in late-stage Parkinson’s disease (PD) treated with dopaminergic therapy and deep brain stimulation (DBS). External cues may help to overcome freezing of gait (FOG) and improve some of the gait parameters. Aim To evaluate the effect of 3D visual cues and STN-DBS on gait in PD group. Methods We enrolled 35 PD patients treated with DBS of nucleus subthalamicus (STN-DBS). Twenty-five patients (5 females; mean age 58.9 ±6.3) and 25 sex- and age-matched controls completed the gait examination. The gait in 10 patients deteriorated in OFF state. The severity of PD was evaluated using the Unified Parkinson's Disease Rating Scale (UPDRS) and Hoehn and Yahr (HY). The PD group filled the Falls Efficacy Scale-International (FES) and Freezing of Gait Questionnaire (FOGQ). Gait was examined using the GaitRite Analysis System, placed in the middle of the 10m marked path. The PD group was tested without dopaminergic medication with and without visual cueing together with the DBS switched ON and OFF. The setting of DBS was double-blind and performed in random order. Results The UPDRS was 21.9 ±9.5 in DBS ON state and 41.3 ±13.7 in DBS OFF state. HY was 2.5 ±0.6, FES 12.4 ±4.1 and FOGQ 9.4 ±5.7. In the DBS OFF state, PD group walked more slowly with shorter steps, had greater step length variability and longer duration of the double support phase compared to healthy controls. The walking speed and step length increased in the DBS ON state. The double support phase was reduced with 3D visual cueing and DBS; the combination of both cueing and DBS was even more effective. Conclusion Cueing with 3D visual stimuli shortens the double support phase in PD patients treated with DBS-STN. The DBS is more effective in prolonging step length and increasing gait speed. We conclude that 3D visual cueing can improve walking in patients with DBS.
- Published
- 2020
40. Descending stairs: Good or bad task to discriminate women with patellofemoral pain?
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Fabiano Politti, Paulo Roberto Garcia Lucareli, Aline de Almeida Novello, Silvio Garbelotti, André Serra Bley, Nayra Deise dos Anjos Rabelo, André Nogueira Ferraz, and João Carlos Ferrari Corrêa
- Subjects
Adult ,medicine.medical_specialty ,Adolescent ,Knee Joint ,Biophysics ,Double support phase ,Kinematics ,Sensitivity and Specificity ,Pelvis ,Diagnosis, Differential ,Young Adult ,03 medical and health sciences ,0302 clinical medicine ,Physical medicine and rehabilitation ,Patellofemoral pain ,Stairs ,medicine ,Humans ,Orthopedics and Sports Medicine ,Tibia ,Range of Motion, Articular ,Gait ,business.industry ,Rehabilitation ,Torso ,030229 sport sciences ,Trunk ,Stair Climbing ,Biomechanical Phenomena ,Cross-Sectional Studies ,medicine.anatomical_structure ,Lower Extremity ,Patellofemoral Pain Syndrome ,Female ,Ankle ,business ,human activities ,030217 neurology & neurosurgery - Abstract
Background There is no consensus on kinematics alterations during descending stairs in females with patellofemoral pain (PFP). In addition, there are no studies that have evaluated the three dimensional kinematics of the trunk, pelvis, hip, knee, and ankle using a multi-segmental model of the foot simultaneously during this task in patients with PFP and evaluated the subphases of stair descent. The objectives of this study were to compare the three dimensional kinematics of the trunk, pelvis, and lower limbs during different subphases of stair descent and identify the discriminatory capacity of the kinematic variables among women with PFP and healthy women. Methods In this cross-sectional study, thirty-four women with PFP and thirty-four pain free women between 18 and 35 years-old were submitted to three-dimensional kinematic evaluation during stair descent. Results It was observed that kinematic differences between the groups occurred in the first double support phase of the stair descent, with the variables of internal rotation of the hindfoot in relation to the tibia in the initial contact (2.1°; sensitivity = 68.6%, specificity = 61.8%) and contralateral pelvic drop in load response (1.3°, sensitivity = 65.7%, specificity = 63.7%) presenting the best ability to discriminate women with and without PFP. Conclusion Our results suggest that kinematic changes during stair descent should be used with caution during the evaluation and decision-making process in women with PFP.
- Published
- 2018
41. The effects of ground compliance on flexible planar passive biped dynamic walking
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Daojin Yao, Xiaohui Xiao, and Yao Wu
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0209 industrial biotechnology ,Computer science ,Mechanical Engineering ,Stiffness ,Double support phase ,02 engineering and technology ,Multibody system ,Computer Science::Robotics ,Nonlinear system ,020901 industrial engineering & automation ,Gait (human) ,Planar ,Mechanics of Materials ,Control theory ,0202 electrical engineering, electronic engineering, information engineering ,medicine ,020201 artificial intelligence & image processing ,Passive walking ,medicine.symptom ,Human locomotion - Abstract
Passive biped dynamic walking exhibits humanoid gait. Many efforts have been made to implement a flexible and anthropomorphic passive model. However, the couple of flexible passive walker on compliant ground has not been well studied yet. The objective of this paper was to develop multibody dynamics for flexible passive walker on compliant ground, in which the nonlinear spring-damper contact model was used both in normal and tangential directions to represent ground compliance. Inspired by elastic mechanisms in human locomotion, hip stiffness and damping were incorporated in the proposed flexible passive walker. Different from traditional impactmomentum method, one unified set of continuous dynamics based on continuous force method was developed to describe the entire passive walking gait on compliant ground, including the real double support phase. Through numerical simulations, stable period-one gait and double support phase were gained. After investigating the effects of contact parameters on step length, period and velocity, it was found that larger contact stiffness and smaller contact damping lead to a higher step velocity gait. The adjustment of hip stiffness could be used to improve the versatility of the flexible walker on varying compliant grounds.
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- 2018
42. Foot pressure analysis of gait pattern in older Japanese females requiring different personal care support levels
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Masumi Tomisaki, Naoto Takayanagi, Hirokazu Sakai, Ichiro Tokimitsu, Motoki Sudo, Yoshifumi Niki, Keiko Morimoto, and Masahiko Fujii
- Subjects
medicine.medical_specialty ,Personal care ,Foot pressure analysis ,business.industry ,Personal care need ,Forefoot ,Physical Therapy, Sports Therapy and Rehabilitation ,Double support phase ,030229 sport sciences ,Gait ,Toe ,03 medical and health sciences ,0302 clinical medicine ,Physical medicine and rehabilitation ,medicine ,Original Article ,Foot pressure ,Cadence ,business ,030217 neurology & neurosurgery ,Foot (unit) - Abstract
[Purpose] This study evaluated gait parameters and foot pressure in two regions of the feet among older females with different personal care support needs to analyze factors that contribute to higher support requirements. [Subjects and Methods] Thirty-two older females were divided into support-need and care-need level groups. Gait parameters (speed, cadence, step length, step width, gait angle, toe angle, double support phase, swing phase, and stance phase) and foot pressure during a 5-m walk were measured and analyzed in the two groups. [Results] The percentage of the double support phase on both feet and the right stance phase were significantly higher in the care-need level group, while that of the right swing phase was significantly lower than that of the support-need level group. Additionally, the phase showing peak pressure on the left rear foot was significantly delayed and the left forefoot pressure in the terminal stance was significantly lower in the care-need level group than in the support-need level group. [Conclusion] These findings show that the temporal duration parameters and foot pressure on a particular side were significantly different between the two groups and suggest that these differences were associated with a higher care level.
- Published
- 2018
43. Temporal analysis of elite men's discus throwing technique.
- Author
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PANOUTSAKOPOULOS, VASSILIOS and KOLLIAS, IRAKLIS A.
- Abstract
The purpose of this study was to investigate the relationship between the duration of the throw and the official throwing distance in a group of elite male discus throwers. The time analysis of the technique phases (i.e. preparation, entry, flight, transition, delivery, release) of the participants in a top international athletics competition was used in order to conduct the study. Data were retrieved after recording seven right-handed throwers (age: 28.8 ± 4.1 years, body height: 1.94 ± 0.09 m, body mass: 119.4 ± 11.6 kg) with a Casio EX-FX1 (Casio Computer Co. Ltd) digital video camera (sampling frequency: 300fps) and analyzing the captured throws with the V1 Home 2.02.54 software (Interactive Frontiers Inc.). The relationships among the duration of the technique phases of the throw and the official throwing distance were examined with Pearson Correlation Analysis using the SPSS 10.0.1 software (SPSS Inc.). Results revealed that no significant correlation (p > 0.05) existed among the average official throwing distance (63.04 ± 6.09 m) and the duration of the discus throw or the duration of each technique phase. The temporal and correlation analyses were in agreement with previous studies. The dominant style of release was the release with no support on the ground. The majority of the throwers spent a larger percentage of the delivery turn (transition, delivery and release phases) being in single than in double support. It was noted that a short duration of the transition phase, combined with lower values of the ratio of the time spent for the starting turn compared to the time spent for the delivery turn might be favorable regarding the achievement of a larger throwing distance [ABSTRACT FROM AUTHOR]
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- 2012
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44. Gait strategy changes with acceleration to accommodate the biomechanical constraint on push-off propulsion
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Oh, Keonyoung, Baek, Juhyun, and Park, Sukyung
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- *
HUMAN locomotion , *GAIT in humans , *BIPEDALISM , *PHYSIOLOGICAL effects of acceleration , *ENERGY dissipation , *GROUND reaction forces (Biomechanics) - Abstract
Abstract: To maintain steady and level walking, push-off propulsion during the double support phase compensates for the energy loss through heel strike collisions in an energetically optimal manner. However, a large portion of daily gait activities also contains transient gait responses, such as acceleration or deceleration, during which the observed dominance of the push-off work or the energy optimality may not hold. In this study, we examined whether the push-off propulsion during the double support phase served as a major energy source for gait acceleration, and we also studied the energetic optimality of accelerated gait using a simple bipedal walking model. Seven healthy young subjects participated in the over-ground walking experiments. The subjects walked at four different constant gait speeds ranging from a self-selected speed to a maximum gait speed, and then they accelerated their gait from zero to the maximum gait speed using a self-selected acceleration ratio. We measured the ground reaction force (GRF) of three consecutive steps and the corresponding leg configuration using force platforms and an optical marker system, respectively, and we compared the mechanical work performed by the GRF during each single and double support phase. In contrast to the model prediction of an increase in the push-off propulsion that is proportional to the acceleration and minimizes the mechanical energy cost, the push-off propulsion was slightly increased, and a significant increase in the mechanical work during the single support phase was observed. The results suggest that gait acceleration occurs while accommodating a feasible push-off propulsion constraint. [Copyright &y& Elsevier]
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- 2012
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45. Analysis of ground reaction force and electromyographic activity of the gastrocnemius muscle during double support.
- Author
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Sousa, Andreia SP, Santos, Rubim, Oliveira, Francisco PM, Carvalho, Paulo, and Tavares, João Manuel RS
- Subjects
GROUND reaction forces (Biomechanics) ,ELECTROMYOGRAPHY ,SKELETAL muscle ,INVERTED pendulum (Control theory) ,GAIT in humans ,CALORIC expenditure - Abstract
Mechanisms associated with energy expenditure during gait have been extensively researched and studied. According to the double-inverted pendulum model energy expenditure is higher during double support, as lower limbs need to work to redirect the centre of mass velocity. This study looks into how the ground reaction force of one limb affects the muscle activity required by the medial gastrocnemius of the contralateral limb during step-to-step transition. Thirty-five subjects were monitored as to the medial gastrocnemius electromyographic activity of one limb and the ground reaction force of the contralateral limb during double support. After determination of the Pearson correlation coefficient (r), a moderate correlation was observed between the medial gastrocnemius electromyographic activity of the dominant leg and the vertical (Fz) and anteroposterior (Fy) components of ground reaction force of the non-dominant leg (r = 0.797, p < 0.0001; r = –0.807, p < 0.0001). A weak and moderate correlation was observed between the medial gastrocnemius electromyographic activity of the non-dominant leg and the Fz and Fy of the dominant leg, respectively (r = 0.442, p = 0.018; r = –0.684 p < 0.0001). The results obtained suggest that during double support, ground reaction force is associated with the electromyographic activity of the contralateral medial gastrocnemius and that there is an increased dependence between the ground reaction force of the non-dominant leg and the electromyographic activity of the dominant medial gastrocnemius. [ABSTRACT FROM AUTHOR]
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- 2012
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46. Real-Time Gait Planning for Pushing Motion of Humanoid Robot.
- Author
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Motoi, N., Ikebe, M., and Ohnishi, K.
- Abstract
This paper describes real-time gait planning for pushing motion of humanoid robots. This method deals with an object whose mass is not known. In order that a humanoid robot pushes an unknown object in both single support phase and double support phase, real-time gait planning for pushing the unknown object is proposed. Real-time gait planning consists of zero moment point (ZMP) modification and cycle time modification. ZMP modification is the method that modifies the influence of reaction force to ZMP. By cycle time modification, the period in double support phase is modified to avoid a robot tipping over. These modifications are calculated from reaction force on arms in every cycle. With these methods, trajectory planning for pushing an unknown object in both single support phase and double support phase is calculated. Even if parameters of an object and friction coefficient on the floor vary, the robot keeps on walking while pushing an object. The effectiveness of the proposed method is confirmed by a simulation and an experiment. [ABSTRACT FROM PUBLISHER]
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- 2007
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47. Changes in interlimb coordination during walking and grasping task in older adult fallers and non-fallers
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Renato Moraes, Natalia Madalena Rinaldi, and Richard E.A. van Emmerik
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Adult ,Male ,Right shoulder ,medicine.medical_specialty ,Biophysics ,Experimental and Cognitive Psychology ,Double support phase ,Walking ,Dowel ,Task (project management) ,Young Adult ,03 medical and health sciences ,0302 clinical medicine ,Physical medicine and rehabilitation ,Hand strength ,medicine ,Humans ,Orthopedics and Sports Medicine ,Range of Motion, Articular ,Gait ,Aged ,Leg ,Hand Strength ,Left shoulder ,Shoulder Joint ,030229 sport sciences ,General Medicine ,Middle Aged ,medicine.anatomical_structure ,Arm ,Accidental Falls ,Female ,Shoulder joint ,Psychology ,human activities ,Psychomotor Performance ,psychological phenomena and processes ,030217 neurology & neurosurgery - Abstract
The aim of this study was to investigate interlimb coordination in young and older adults with and without a history of falls during the combined task of walking and prehension with different levels of manual task difficulty. Participants walked on a pathway and grasped a dowel. A vector coding technique evaluated coordination patterns. The coordination pattern was not affected by the difficulty level of the manual task. Older adults seemed to prioritize the movement of the right shoulder to grasp the dowel and then 'froze' the movement of the other joint (left shoulder) not directly involved in the grasping task. The preference to pick up the dowel in the double support phase and the increase in right shoulder phase made by older adults with a history of falls suggests an even greater decoupling between walking and prehension.
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- 2017
48. Biomechanical characteristics of overweight and obese children during five different walking and running velocities
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Aviva Zeev, Michal Pantanowitz, Dan Nemet, Tamar Brosh, Alon Eliakim, Nili Steinberg, Moshe Ayalon, and Meron Rubinstein
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medicine.medical_specialty ,Percentile ,Stance phase ,business.industry ,Peak pressure ,Biomedical Engineering ,Biophysics ,Physical Therapy, Sports Therapy and Rehabilitation ,Human Factors and Ergonomics ,Double support phase ,030229 sport sciences ,Overweight ,03 medical and health sciences ,0302 clinical medicine ,Physical therapy ,medicine ,Orthopedics and Sports Medicine ,Foot pressure ,medicine.symptom ,business ,Cycle length ,030217 neurology & neurosurgery ,Foot (unit) - Abstract
The characterization of activity patterns of overweight and obese (OW) children and adolescents is essential, and should be carried out before they join an exercise training programme and increase their physical activity in order to maintain or reduce body weight.The purpose of this study is to verify whether the biomechanical parameters characterizing frequently used walking and running speeds vary between OW and normal-weight (NW) children. Thirty-one prepubescent OW children (9.9 y ± 1.3) and 10 prepubescent NW children (9.9 y ± 1.2) participated in this study. All participants were evaluated for temporal parameters (e.g. cycle length, cycle time, stance phase time, double support phase time, etc.) and for foot pressure parameters (e.g. contact area, duration of contact, peak pressure, etc.) in six different foot areas, at three walking velocities, and two running velocities. A group effect (p < .05) was found for the peak pressure, duration of contact percentile, maximum force, foot pressure–time inte...
- Published
- 2017
49. Changes in the Gait Pattern of Hemiparetic Patients with Subacute Basal Ganglia Stroke: a Retrospective Study
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030506 rehabilitation ,medicine.medical_specialty ,business.industry ,Retrospective cohort study ,Double support phase ,Stride length ,medicine.disease ,03 medical and health sciences ,0302 clinical medicine ,Physical medicine and rehabilitation ,Basal ganglia ,Physical therapy ,Medicine ,Gait pattern ,0305 other medical science ,business ,Cadence ,Stroke ,030217 neurology & neurosurgery - Published
- 2016
50. Computation of spatio-temporal parameters in level walking using a single inertial system in lean and obese adolescents
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Nicola Cau, Manuela Galli, Cristina Santovito, Veronica Cimolin, Gabriella Tringali, Alessandra Patrizi, Alessandro Sartorio, and Paolo Capodaglio
- Subjects
Inertial frame of reference ,Adolescent ,Computer science ,Computation ,0206 medical engineering ,Biomedical Engineering ,Double support phase ,Walking ,02 engineering and technology ,Kinematics ,020601 biomedical engineering ,Biomechanical Phenomena ,03 medical and health sciences ,0302 clinical medicine ,Gait (human) ,Gait analysis ,Humans ,Obesity ,Gait ,030217 neurology & neurosurgery ,Lower trunk ,Simulation - Abstract
In recent years, the availability of low-cost equipment capable of recording kinematic data during walking has facilitated the outdoor assessment of gait parameters, thus overcoming the limitations of three-dimensional instrumented gait analysis (3D-GA). The aim of this study is twofold: firstly, to investigate whether a single sensor on the lower trunk could provide valid spatio-temporal parameters in level walking in normal-weight and obese adolescents compared to instrumented gait analysis (GA); secondly, to investigate whether the inertial sensor is capable of capturing the spatio-temporal features of obese adolescent gait. These were assessed in 10 obese and 8 non-obese adolescents using both a single inertial sensor on the lower trunk and an optoelectronic system. The parameters obtained were not statistically different in either normal-weight or obese participants between the two methods. Obese adolescents walked with longer stance and double support phase compared to normal-weight participants. The results showed that the inertial system is a valid means of evaluating spatio-temporal parameters in obese individuals.
- Published
- 2016
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