The influence of hip joint rotation of a physical assistant robot on curving motion

Kuboki, Yosuke; Akiyama, Yasuhiro; Okamoto, Shogo; Yamada, Yoji

doi:10.1080/01691864.2020.1857304

Cited by 3 publications

(7 citation statements)

References 24 publications

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“…The data of experiment reported previously [14] were used to develop our balance index, all-round MoS. The experiment was conducted with the approval of the ethics committee of Nagoya University.…”

Section: Experimental Methodsmentioning

confidence: 99%

“…To evaluate the curving motion, the gait parameters that represent the posture and balance in the diagonal direction were determined, as shown in Table 1. In addition to our previous study [14], several parameters were newly determined to evaluate the kinematic balance in the all-round directions of the curving step.…”

Section: Data Processing a Parameter Definition And Calculationmentioning

confidence: 99%

“…By observing curving gaits, we revealed that humans use approximately 30 deg of hip rotation and 10 deg of abduction when curving corners [12]. Thus, we investigated the effect of the DoFs of the hip joint on the curving gait by restricting rotation and adduction/abduction of the hip joint using a wearable device [13], [14]. The analysis of step positions and joint angles revealed that the restriction of hip rotation decreased the step length but did not decrease the physical margin of fall in both forward and mediolateral direction.…”

Section: Introductionmentioning

confidence: 99%

“…However, the yaw motion does not directly reflect the balance in diagonal direction, and the study did not consider curving motion. Although we analyzed the MoS of curving steps, it was done in the forward and mediolateral direction separately [14]. Thus, it is necessary to develop a stability index to evaluate kinematic balance in an all-round direction.…”

Section: Introductionmentioning

confidence: 99%

“…In this study, we newly analyzed the curving motion [14] and proposed an index to measure gait stability in an all-round direction for evaluating gait motion in a daily living environment (i.e., corner curving) by expanding the idea of MoS. Furthermore, the index was applied to evaluate the performance of the gait assist devices.…”

Section: Introductionmentioning

confidence: 99%

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Novel Approach to Analyze All-Round Kinematic Stability During Curving Steps

et al. 2023

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From the viewpoint of the stability of biped walking, the stability for both anteroposterior, lateral, and diagonal directions should be considered owing to the frequent occurrence of turning and curving motions in the daily environment. In this study, a measure called the all-round margin of stability (MoS) is proposed to evaluate the kinematic balance of the all-round direction. A curving experiment was performed to analyze the characteristics of the all-round MoS. The curving gait was recorded with and without the restriction of hip rotation. The all-round MoS of trials were classified using cluster analysis, and the characteristics of curving motion were extracted from gait parameters using factor analysis. By comparing the characteristics of the all-round MoS and factor scores, the features of the all-round MoS were discussed. The results suggest that the effect of the parameters on the MoS, such as the velocity of the center of gravity and step width, matched the characteristics of the all-round MoS. Thus, the effect of the range of motion of hip rotation on curving gait was analyzed using an all-round MoS. The all-round MoS helps visualize the anisotropy of balance, which then enables estimation of the direction with high fall risk. Furthermore, the all-round MoS enables to evaluate and improve the performance of gait assist devices such as exoskeletons. This study proposes the concept of all-round MoS as the method to evaluate balance in diagonal direction especially for complex gait.INDEX TERMS Curving gait, gait stability, margin of stability, range of motion, exoskeleton.

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Section: Experimental Methodsmentioning

confidence: 99%

Section: Data Processing a Parameter Definition And Calculationmentioning

confidence: 99%