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General information |
| Author |
Stancic, Ivo; Supuk, Tamara Grujic; Bonkovic, Mirjana |
| Published |
InTech Open Access Publisher, 2012
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| 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. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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