Asymmetric gait analysis based on passive dynamic walking theory

Rasouli, Fatemeh; Naraghi, Mohammad; Safa, Ali Tehrani

doi:10.1109/icrom.2016.7886765

Cited by 4 publications

(4 citation statements)

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“…While the behavior of a healthy symmetric gait has been studied through symmetric dynamic models, very few of them have been developed to simulate a pathological gait trajectory with asymmetry [15][16][17][18]. One of the limited studies in this area is Asymmetric Passive Dynamic Walkers (APDW) [17,18]. The two-link APDW simulation indicated stable and periodic behavior up to 5% change in the mass and length ratios between the two links [18].…”

Section: Introductionmentioning

confidence: 99%

“…One of the limited studies in this area is Asymmetric Passive Dynamic Walkers (APDW) [17,18]. The two-link APDW simulation indicated stable and periodic behavior up to 5% change in the mass and length ratios between the two links [18]. The APDW, with the addition of the knee, was able to walk with a stable pattern over a slope with up to 15% asymmetry between the two links [17].…”

Section: Introductionmentioning

confidence: 99%

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Identical Limb Dynamics for Unilateral Impairments through Biomechanical Equivalence

Rasouli

Reed

2021

Symmetry

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Dynamic models, such as double pendulums, can generate similar dynamics as human limbs. They are versatile tools for simulating and analyzing the human walking cycle and performance under various conditions. They include multiple links, hinges, and masses that represent physical parameters of a limb or an assistive device. This study develops a mathematical model of dissimilar double pendulums that mimics human walking with unilateral gait impairment and establishes identical dynamics between asymmetric limbs. It introduces new coefficients that create biomechanical equivalence between two sides of an asymmetric gait. The numerical solution demonstrates that dissimilar double pendulums can have symmetric kinematic and kinetic outcomes. Parallel solutions with different physical parameters but similar biomechanical coefficients enable interchangeable designs that could be incorporated into gait rehabilitation treatments or alternative prosthetic and ambulatory assistive devices.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Identical Limb Dynamics for Unilateral Impairments through Biomechanical Equivalence

Rasouli

Reed

2021

Symmetry

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“…[89] used a passive walker (PW) to in investigate the effect of roll-over shape on the characteristics of gait. Rasouli et al [111] used a PW with asymmetric leg masses to study the chaotic and periodic behaviour. This chapter will focus on the effect of asymmetric leg conditions on the symmetry and stability of gait of the passive walking model.…”

Section: Prosthetic Leg Mass Imbalancementioning

confidence: 99%

“…Honeycutt et al[55] showed that stable asymmetric walking patterns exist for PDW models by changing mass, mass location, knee location and leg length of one leg. Rasouli et al[111] extended previous passive dynamic models by making the legs asymmetric. They compared the models' unstable boundaries, stable periodic intervals and average velocity of motion.…”

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confidence: 99%

Dynamic Walking Models to Understand Asymmetric Gait Characteristics

Charles¹

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Passive dynamic walking models remarkably predict gait behaviour such as walk-run transition speeds, preferred step length, stride frequencies and-with the inclusion of springs-ground reaction forces. Muscular or neurological conditions may lead to asymmetric walking characteristics that, in turn, come with long term health risks. Gait analysis may be used to understand an individual patient's conditions to help rehabilitate them. However, people adapt their kinematic and kinetic walking patterns so it can be hard to distinguish the effects of gait alterations such as inertial imbalance or injury. In this thesis a compass walking model with no active controllers is explored to understand the dynamics of gait. To help us interpret the effects of mass imbalance with a prosthetic foot or orthotic device, asymmetric loading conditions are investigated. A simple spring-mass walking model is used to explore the effects of altered touchdown angles and effective leg stiffness to see if these are used as strategies to alter the characteristics of gait. Results show that an asymmetric touchdown angle alters step length while retaining a symmetric stance time. A hybrid model is then derived with springs to emulate human-like ground reaction forces and asymmetric inertial loading of the legs. Results support previous research that pushoff from the trailing leg propels the leg mass more than the body mass. Higher rates of joint forces, larger step lengths and a longer stance time on the residual limb may be due to the prosthetic leg stiffness or the higher location of centre-of-mass. These results help us understand how the dynamic components affect gait characteristics such as step length, stance time and walking speeds. This work is motivated by the needs of persons with disabilities and by the desire to understand human walking.

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Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope

Jia

Sun

et al. 2021

Intelligent Robotics and Applications

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Asymmetric gait analysis based on passive dynamic walking theory

Cited by 4 publications

References 9 publications

Identical Limb Dynamics for Unilateral Impairments through Biomechanical Equivalence

Identical Limb Dynamics for Unilateral Impairments through Biomechanical Equivalence

Dynamic Walking Models to Understand Asymmetric Gait Characteristics

Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope

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