New Kinematic Parameters for Quantifying Irregularities in the Human and Humanoid Robot Gait

Abstract

Gait patterns of humans and humanoid robots are often described by analysing changes in angular rotation of hip, knee and ankle joints during one gait cycle. Each joint displays specific behaviour and irregularities of the gait pattern could be detected by measuring displacements from the normal rotation curve, while small deviations of individual gait characteristics are usually not easily detected. In this paper, an advanced gait analysis method is proposed, which incorporates analysis of angular data and its derivations of hip, knee, and ankle joints, presented in the phase plane. The gait kinematics was measured using a system based on active markers and fast digital cameras. The experiment included measurements on thirty healthy, barefoot humans while walking on a treadmill. We also simulated types of irregular gait, by measurements on subjects wearing knee constraints. The new kinematic parameters which are introduced clearly indicated the discrepancy between normal, healthy gait trials and irregular gait trials. The proposed gait factor parameter is a valuable measure for the detection of irregularities in gait patterns of humans and humanoid robots

Is it possible to detect mobile phone user's attention based on accelerometer measurment of gait pattern?

“…Multi-dimensional phase plots describe gait kinematics data, where each parameter is plotted against one axis. Advantages of these plots are in the fact that they are presented as a shape where changes of individual gait style are easily observable and detectable [18]. If cyclic movement (gait) is analysed, phase plots form closed curves, where data from each individual cycle is comparable with others.…”

“…Euclidian distance was calculated), as depicted in enlarged part of Fig 5. The same procedure is perfonned for the phase curves obtained for all gait trials Result was a parameter which we named GaitFactor (GF) which is a modified version of gait parameter introduced in [18]. Main difference is in comparing closest data point from phase curves, rather than data point of the same sample index.…”

“…Literature suggests visualization and analysis of relationship between gait kinematic parameters in form of a 978-1-4799-3755-4/13/$31.00 ©2013 IEEE phase plots [18]. Multi-dimensional phase plots describe gait kinematics data, where each parameter is plotted against one axis.…”

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“…Gait analysis techniques usually focused on detection and abnormalities in movement as diagnostic tools [5]. Many researchers used gait information to detect the abnormality in walking movement [2,6,7].…”

“…Many researchers used gait information to detect the abnormality in walking movement [2,6,7]. By comparing with control group or normative data, the differences in gait pattern are observed and the value between its deviations from the analysis will bring meaningful information for the given study [5,8,9].…”